Aiming at the right-angle turning condition of intelligent vehicles, using a simplified vehicle kinematics model to improve the pure tracking control algorithm. An improved pure tracking control algorithm based on road curvature feedforward is proposed. A longitudinal speed controller based on road curvature is used to calculate a reasonable preview distance according to the vehicle speed in real time, and a suitable front wheel angle is obtained according to the position deviation at the preview point, thereby realizing the accuracy of the path tracking. Finally, Simulink/Carsim joint simulation is used to verify the results. The results show that the control algorithm can meet the intelligent vehicle's accurate tracking of the right-angle turning path at a certain speed, and has good stability.

CICTP