A Review of Intelligent Vehicle Trajectory Tracking Control Methods Based on Overtaking Lane Change Scenarios

In order to achieve safe, comfortable, and stable control of lane-changing trajectories for intelligent vehicles, this paper reviews various trajectory tracking control methods for intelligent vehicles. Focusing on overtaking lane-changing trajectories, the paper provides a comprehensive review of research progress in PID, LQR, MPC, and SMC control methods both domestically and internationally. Striking a balance between addressing the challenges posed by non-integrity and multiple constraints of the vehicle, coping with the time-variability of the vehicle dynamics model, and ensuring the accuracy and computational efficiency of the vehicle model is essential for fostering the continuous development and enhancement of intelligent vehicle technology.