关键词: 无人驾驶车辆；纯跟踪算法；斯坦利算法；轨迹跟踪；MATLAB/Simulink

Abstract: In recent years, with the rapid development and wide application of unmanned driving technology, the key technologies related to unmanned driving have attracted a large number of scholars at home and abroad. On the one hand, the research on driverless technology provides a theoretical basis for the development of modern intelligent vehicles. On the other hand, the increasingly mature driverless technology can greatly improve vehicle ride comfort and vehicle driving safety, and provide technical support for the development and application of intelligent transportation systems. Trajectory tracking is one of the key technical problems in the development of unmanned vehicles. Based on the vehicle kinematics model, this paper uses pure tracking algorithm and Stanley algorithm to track and control the unmanned vehicle. Through MATLAB/ Simulink software, the trajectory tracking effects of the two algorithms under the same working condition are verified respectively. The results show that the two algorithms can make the unmanned vehicle trajectory the reference track well at low speed. In the case of medium and high speed, the tracking effect of the two control algorithms is not very ideal.

Key words: Unmanned vehicle; Pure pursuit; Stanley; Trajectory tracking; MATLAB/Simulink