Abstract: Aiming at the trajectory tracking control problem of intelligent vehicles， the trajectory tracking control method with adjustable parameters of intelligent vehicles was presented. Firstly， the fuzzy controller was designed to track intelligent vehicles. Secondly， in order to improve the path tracking effect of vehicles at high speeds， the model prediction controller was further designed， and the tire side deviation angle and centroid side deviation angle were restrained by combining the dynamic characteristics of tires and vehicles. Then， in order to improve the path tracking effect of vehicles under different working conditions， a model prediction controller based on PSO algorithm was further designed. The control effects with different methods were compared. Finally， the typical working conditions were selected for simulation on the joint simulation platform. The results showed that the proposed trajectory tracking control method of intelligent vehicles can effectively track the vehicle trajectory.

Key words: intelligent vehicle, trajectory tracking, model predictive control, fuzzy control, particle swarm optimization (PSO)