Author(s)

Zheng Hao

Affiliation(s)

School of Robotics, Hunan University, Changsha 410082, Hunan, China.

Corresponding Author

Zheng Hao

ABSTRACT

In today's era of rapid technological development, driverless technology has become the focus of global attention. In this paper, a novel vehicle path tracking method based on horizontal and vertical decoupled control is proposed to address the limitations of traditional fixed reference points (e.g., vehicle center point or front axle). By building a generalized error model for any reference point and reconstructing the dynamics in the Frenet coordinate system, the method can achieve high-precision trajectory tracking at any position of the vehicle.Simulation results show that the method achieves excellent tracking accuracy (RMSE < 0.12m) and adapts to complex scenarios. Compared with the traditional fixed reference point method, the maximum lateral deviation of this method is much reduced under high-speed conditions. The proposed framework has potential applications in self-driving cars, unmanned logistics vehicles and agricultural machinery.

KEYWORDS

Autonomous driving; Vehicle dynamics modeling; Trajectory tracking; Frenet coordinate system; Horizontal and vertical decoupling

CITE THIS PAPER

Zheng Hao. A novel vehicle trajectory tracking control method based on horizontal–vertical decoupling. World Journal of Engineering Research. 2025, 3(1): 65-74. DOI: https://doi.org/10.61784/wjer3019.

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