摘要：AbstractAt present, driverless vehicles have become another important developing direction for emancipating mankind. For the current development stage of driverless vehicles, trajectory tracking capability is a very significant part, and its control effect has a great impact on driverless vehicles Nowadays, the application of vehicle dynamics in the research of trajectory tracking control strategy is very limited. This paper will design a trajectory tracking strategy for driverless vehicles based on vehicle dynamics. Firstly, we establish a 7-DOF dynamic model of vehicle. And the Magic Formula tire model is built based on the experimental data. Then we begin to design trajectory tracking control strategy. Through the vertical and horizontal control of the driverless vehicle, the stability limit can be achieved and the accuracy of trajectory tracking can be guaranteed. Based on the designed trajectory tracking control strategy, the principle prototype vehicle is used to verify. The experimental results show that the proposed trajectory tracking control strategy works well and achieves the goal, which is to reach the stability limit and ensure the accuracy of trajectory tracking. The principle prototype vehicle is used to verify the designed trajectory tracking control strategy.
