Control Strategies on Path Tracking for Autonomous Vehicle: State of the Art and Future Challenges

Autonomous vehicle technology aims to improve driving safety, driving comfort, and its economy, as well as reduce traffic accident rate. As the basic part of autonomous vehicle motion control module, path tracking aims to follow the reference path accurately, ensure vehicle stability and satisfy the robust performance of the control system. This article introduces the representative control strategies, robust control strategies and parameter observation-based control strategies on path tracking for autonomous vehicle. Furthermore, the implementations and disadvantages are summarized. Most importantly, the critical review in this article provides a list and discussion of the remaining challenges and unsolved problems on path tracking control.