Pure tracking intelligent vehicle path following control method

The invention relates to a pure tracking intelligent vehicle path following control method, which comprises the steps of calculating an expected front wheel turning angle according to a preview distance, an expected path and a vehicle state; calculating transverse deviation and course deviation between the vehicle and the expected path; calculating rotation angle compensation according to the transverse deviation and the course deviation; and adding the expected front wheel rotation angle and the rotation angle compensation to obtain a front wheel rotation angle control quantity. The method has the advantages that on the basis of a traditional pure tracking algorithm, the real-time course deviation between the intelligent vehicle and the expected path is considered, initial deviation elimination is accelerated, oscillation is reduced, the path following precision is improved, and the application requirement of the intelligent vehicle is met. 本发明涉及一种纯跟踪智能车路径跟随控制方法，包括根据预瞄距离、期望路径、车辆状态，计算期望前轮转角；计算车辆与期望路径的横向偏差、航向偏