Path Planning and Tracking Control for Automatic Driving Obstacle Avoidance

Abstract

This paper studies the path planning and tracking control of obstacle avoidance lane change in intelligent auto driving. Firstly, the vehicle two-degree-of-freedom model of front wheel steering is established by the knowledge of automobile kinematics and dynamics. Secondly, the trajectory planning is realized by the fifth-order polynomial curve fitting method. Then the linear time-varying model predictive control method is used to realize the tracking control of the trajectory. Finally, MATLAB simulation is used to verify the feasibility of the above ideas. The experimental results show that the fifth-order polynomial can quickly and accurately fit the ideal curve; the model predictive control can also stably control the car to follow the prescribed path.