Abstract The motion control of autonomous vehicles with a modular, service-oriented system architecture poses new challenges, as trajectory-planning and -execution are independent software functions. In this paper, requirements for an encapsulated trajectory tracking derived it’s shown that key differences to conventional integrated exist, requiring additional attention during controller design...

Abstract In order to make the trajectory tracking of intelligent vehicle has good accuracy. this article, a horizontal and vertical cooperative control strategy is proposed. This measure takes dynamics model as research object, feedforward added lateral controller up for deficiency LQR tracking. The longitudinal dual PID algorithm used track in controller. CarSim with Simulink environment set s...