Adaptive dynamic planning path tracking control method based on predictive learning

The invention provides a predictive learning-based adaptive dynamic planning path tracking control method, which considers that the nonlinear characteristic of a vehicle is obvious under the working conditions of high speed and large curvature, improves the optimization solving capability of the nonlinear problem of the vehicle by utilizing adaptive dynamic planning, and introduces a predictive learning framework to improve the adaptive capability of the vehicle to the rapid change of a driving environment. Designing an adaptive dynamic planning path tracking controller based on predictive learning to control the vehicle; firstly, a vehicle nonlinear dynamic model is established to improve the prediction precision of future state information of a vehicle; secondly, designing a self-adaptive dynamic planning weight updating rule, and finally, designing a self-adaptive dynamic planning path tracking controller based on predictive learning; according to the method, the adaptability of the vehicle when reference