Transverse control method based on trajectory boundary self-adaption

The invention provides a transverse control method based on trajectory boundary self-adaption, which is applied to an unmanned vehicle and comprises the following steps: step 1, generating a vehicle trajectory boundary according to an optimal vehicle trajectory; step 2, setting a preview point and a preview point selection range on the optimal track; 3, according to the relation between the distance between the preview points from the vehicle to the trajectory boundaries on the two sides and the path length, obtaining the trajectory boundaries subjected to width self-adaptive adjustment in the preview point selection range; 4, according to the adjusted track boundary and the vehicle kinematics model, the curvature of each point from the vehicle to the boundary is calculated, the point with the minimum curvature is determined, and the position information of the optimal preview point corresponding to the point with the minimum curvature is obtained; and step 5, according to the position information of the opti