Autonomous Vehicle Trajectory Tracking Control

The track following ,a basic technology, is an important part of Autonomous Land Vehicle (ALV). This paper presents the simulation of ALV about the track at high speed and lateral slip on the road with low adhesion coefficient. Some results has been achieved as follows:An automatic turn controller based on optimal control has been designed in track following. The lateral deviation is very little in simulation when ALV is running on a curve road. This indicates the optimal control has good performance in track follo--wing of ALV.According to the three degrees of freedom model of ALV, The characteristic of lateral forces is considered and lateral slip is discussed in the turn of ALV. In addition, we presents a method about evaluating the maximum velocity at which ALV can run safely on curve roads.Based on a nonlinear lateral dynamics model of ALV ,we simulate the track of ALV driving on some kinds of roads especially roads with low adhesion coefficient. The conclusior, we have gotten in this paper is helpful for practical experiment about lateral slip.