Adaptive Trajectory Tracking Based on Backstepping Control of Integral Error for Autonomous Vehicles

With the rapid development of transportation industry, autonomous driving technology has attracted a great deal of attention in modern society. The control method is of crucial significance for improving the overall performance and safety of autonomous driving. This paper mainly focuses on designing an effective vehicle control method that aims to enhance the real-time trajectory tracking capability of autonomous vehicles (AVs). Unlike the traditional backstepping control strategy, the proposed method reconstructs multiple virtual control quantities by integrating multiple error values from various aspects in vehicle operation. Moreover, by making use of rear-wheel feedback control, the AVs at different initial points can be tracked effectively along the desired trajectory. By conducting a series of purposely designed simulations and experiments under various conditions and scenarios, the feasibility of the proposed method is thoroughly proved. Both the simulation and experimental results have provided a solid theoretical and practical basis of the proposed method for its further application in the real AVs.