考虑到自动驾驶车辆的轨迹跟踪控制缺乏统一的计算方法,特别是在误差计算、跟踪点确定和前馈控制器设计等方面,提出了完整的路径跟踪控制计算方法.首先,根据车辆坐标系的动力学方程和路径跟踪模型,得到误差形式的控制方程.然后,根据车辆当前的状态建立跟踪控制模型来获得车辆状态的偏差.最后,根据动力学方程的特点,设计了具有前馈控制的线性二次调节控制器.在此基础上,采用MATLAB语言开发程序,给出了仿真实例轨迹跟随控制的计算时间、抗干扰性和可靠性分析的仿真结果.通过与文献实验结果对比,证明了所提出的计算方法是有效、可靠的,能够实现实时抗干扰的跟踪控制性能.同时,通过有无前馈的仿真结果表明,引入前馈控制能够消除稳态误差,获得更好的控制性能.“,”The current literature lacks uniform calculation methods for following trajectory control for autonomous vehicles,including the calculation of errors,determination of tracking points,and design of feedforward controllers.Hence,a complete calculation method is proposed to address this gap.First,a control equation in the form of an error is obtained according to the dynamic equation of the vehicle coordinate system and the trajectory following model.Secondly,the deviation of the vehicle state is obtained according to the current vehicle\'s state and the following control model.Finally,a linear quadratic regulator (LQR) controller with feedforward control is designed according to the characteristics of the dynamic equation.With the proposed LQR,the simulation of computational time,anti-interference,and reliability analysis of the trajectory following control is performed by programming using MATLAB.The simulation outcomes are then compared with the experimental results from the literature.The comparison indicates that the proposed complete calculation method is effective,reliable,and capable of achieving real-time and anti-interference following control performance.The simulation results with or without feedforward control show that the steady-state error is eliminated and that good control performance is obtained by introducing feedforward control.