An autonomous vehicle control algorithm based on trajectory planning and tracking was pro-posed.The artificial potential field method(APF)was used to model the traffic environment and driv-ing style,and the model was integrated into the design of model predictive control(MPC)to optimize the trajectory and control the output,and the driver's driving style,habits and other factors were added to the controller.Through two typical scenario simulation experiments,the automatic driving of two driving styles was tested respectively.The results show that the trajectory planning and track-ing system of automatic car-following and lane-changing considering driving style can better reflect the driving situation of car-following and lane-changing vehicles under different driving styles,and im-prove the comfort and safety in the process of automatic driving.
维普
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