关键词: 自动驾驶车辆, 偏航控制, 模型设计, 航向角

Abstract: To solve the problem that the return angle of vehicle regression point and the tangential angle of predetermined trajectory were not considered in the yaw control process of the self-driving vehicle,a yaw control method for autonomous vehicles considering return angle was proposed.The planned trajectory curve was processed to obtain the curvature and steering angle of each point of trajectory.The vehicle yaw model was designed according to the concavity and convexity of curve,and the compensation amount of steering angle was calculated.The speed tracking control model was designed to ensure that the vehicle returned at the maximum allowable speed,and the speed compensation was calculated.The simulation model was built and simulated in MATLAB/Simulink.The results showed that the proposed yaw control method could make the yaw vehicle return quickly under three conditions of straight path,circular path and random path.The position error could meet the accuracy requirement and the real-time regression.

Key words: autonomous vehicle, yaw control, model design, return angle