关键词: 智能驾驶；跟踪控制；纯跟踪；模型预测

Abstract: With the development of informatization, the application prospect of intelligent driving technology is broad. As a part of intelligent driving technology, trajectory tracking control has received more and more attention. This article introduces the kinematics and dynamics models of smart cars, elaborates the theoretical derivation of several commonly used tracking control methods, and analyzes their respective applicable scenarios and advantages and disadvantages. It can be seen that no matter which control method has its drawbacks, the difference in modeling method and driving speed will affect the control effect. Therefore, it is necessary to make improvements in combination with the actual situation to make the control of smart cars more applicable.

Key words: Intelligent driving; Tracking control; Pure pursuit; Model prediction