Research on Tracking Control Algorithm Scheduling Strategy Based on Motion Trajectory Coupling State

The decreased accuracy in collaborative tracking control algorithms under longitudinal and lateral dynamic coupling conditions is a general problem. A scheduling strategy for motion trajectory tracking algorithms is proposed to solve the problem by applying decoupling tracking algorithm in coupling conditions. At first, the coupling causes and coupling negative effects of the vehicle are analyzed. Then, by studying the correlation between coupling conditions and vehicle dynamics responses, the quantitative method of vehicle coupling intensity is proposed. According to the impact of coupling intensity on tracking accuracy, the points that makeup motion trajectory are labeled. Based on the labeled dataset, an SVM model was trained as a coupling intensity classifier for motion trajectory. Finally, the coupling state is clarified by verifying each point's coupling intensity in a fixed-length motion trajectory, which is the threshold for tracking algorithm scheduling.