【摘要】 文中提出一种基于轨迹规划与跟踪相结合的自动驾驶汽车控制算法.采用人工势场法(APF)对交通环境和驾驶风格进行建模，将模型集成到模型预测控制(MPC)的设计中，进行优化轨迹和控制输出，并将驾驶员驾驶风格、习惯等因素加入到控制器中.通过两种典型情景模拟实验，分别测试两种驾驶风格的自动驾驶.结果表明：考虑驾驶风格的自动驾驶跟车和换道的轨迹规划和跟踪系统能够更好地反映不同驾驶风格下的跟车和换道的车辆行驶情况，提高了自动驾驶过程中的舒适性、安全性.更多还原

【Abstract】 An autonomous vehicle control algorithm based on trajectory planning and tracking was proposed. The artificial potential field method(APF) was used to model the traffic environment and driving style, and the model was integrated into the design of model predictive control(MPC) to optimize the trajectory and control the output, and the driver’s driving style, habits and other factors were added to the controller. Through two typical scenario simulation experiments, the automatic driving of two driving styles was tested respectively. The results show that the trajectory planning and tracking system of automatic car-following and lane-changing considering driving style can better reflect the driving situation of car-following and lane-changing vehicles under different driving styles, and improve the comfort and safety in the process of automatic driving.更多还原