Automatic driving automobile trajectory tracking control method considering tracking error constraint

The invention discloses an automatic driving vehicle trajectory tracking control method considering tracking error constraint, which comprises the following steps of: analyzing and simplifying the stress of a vehicle by combining the acting force of the vehicle and the ground and the lateral deviation phenomenon of tires, and establishing a two-degree-of-freedom vehicle dynamics model; taking the course angle error and the transverse trajectory error as tracking targets of a controller, and establishing an error model of vehicle trajectory tracking; establishing an error conversion function to convert the error model; based on the error conversion model, establishing a comprehensive error function model of vehicle trajectory tracking; and designing a sliding mode controller to track the comprehensive error function model. According to the invention, it is ensured that the system has good transient performance and steady-state performance in trajectory tracking, the accuracy in vehicle trajectory tracking is e