Trajectory Tracking Control of Unmanned Driving Based on Wire Controlled Chassis
To improve the tracking accuracy of unmanned vehicles under structured working conditions,a preview trajectory tracking control algorithm with longitudinal vehicle speed tracking controller is proposed.Firstly,according to the characteristics of four-wheel steering,a pure pursuit control model of four-wheel steering was designed based on the traditional pure pursuit algorithm.Secondly,aiming at the defect that the tracking effect of pure pursuit algo-rithm was greatly affected by the vehicle speed,a longitudinal vehicle speed tracking controller was designed,and dif-ferent vehicle speeds were set at different curvatures by N-dimensional interpolation table.Finally,four-wheel steering pure pursuit algorithm was combined with longitudinal speed tracking controller to achieve better tracking effect.The simulation and real vehicle test show that the test platform can accurately track the planned trajectory and smoothly reach the target destination,and the maximum lateral error in the track tracking process of real vehicle is controlled at 0.497m.
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