Control Algorithm for Vehicle Maneuvering Driving on Curved Road

Inspired by control approach of the artificial potential field,a control mechanism for vehicle maneuvering driving on curved road is proposed using a Bezier curve to fit vehicle trajectory,and the kinematics of vehicle is transformed into a chained one in accordance with the feature of nonholonomic control system.Thus,the purposes of designing the simple system control model and enhancing the system real-time performance are realized.The simulation control experiment show that the proposed control algorithm had a better trajectory tracking effect and global stability in vehicle maneuvering driving on curved road.