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

摘要： 近几年来，随着无人驾驶技术的快速发展和广泛应用，有关无人驾驶的关键技术吸引 了大量国内外学者的青睐和研究。一方面，对无人驾驶技术的研究为现代智能汽车的开发提 供了理论基础；另一方面，日益成熟的无人驾驶技术能大大提升车辆乘坐舒适性和汽车行驶 安全性，同时为智能交通系统的发展和应用提供技术支撑。轨迹跟踪问题是无人驾驶车辆开 发中的关键技术难题之一。文章基于汽车运动学模型，分别采用纯跟踪算法和斯坦利算法对 无人驾驶车辆进行轨迹跟踪控制，并通过 MATLAB/Simulink 软件分别验证两种算法在同一工 况下的轨迹跟踪效果。结果表明，在低速情况下两种算法都能够使无人驾驶车辆良好地跟踪 参考轨迹。而在中高速情况下，两种控制算法的跟踪效果都不是很理想。

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