Automatic driving trajectory tracking control method based on multiple driving modes of omni-directional moving vehicle

The invention belongs to the technical field of automobile automatic driving, and particularly relates to an automatic driving trajectory tracking control method based on multiple driving modes of an omni-directional moving vehicle, which comprises the following steps: S1, designing a four-wheel steering mode trajectory tracking controller; s2, designing a pivot steering trajectory tracking controller; s3, designing a skew mode trajectory tracking controller; and track information is established, a diagonal steering mode and pivot steering mode switching test is carried out, and a diagonal steering mode and pivot steering mode switching test is carried out. Through the switching logic of the automatic driving mode realized by the finite-state machine, the omni-directional moving vehicle can be automatically switched to a proper driving mode according to the requirement of an upper planning layer under the medium-low speed working condition, so that high-precision curve tracking is performed, and the method ha