Trajectory tracking control, as one of the core technologies of intelligent
driving vehicles, determines the driving performance and safety of intelligent
driving vehicles and has received extensive attention and research. In recent
years, most of the research results of trajectory tracking control are only
applicable to conventional working conditions; however, the actual operating
conditions of intelligent driving vehicles are complex and variable, so the
research of trajectory tracking control algorithm should be extended to the
high-speed low-adhesion coefficient, large curvature, variable curvature, and
other compound limit working conditions. This requires more consideration of the
vehicle dynamics in the controller design. In this article, a comprehensive
review of trajectory tracking control under extreme operating conditions is
conducted from three levels: vehicle dynamics model, vehicle speed tracking
(longitudinal motion control), and path tracking (transverse motion control),
and the existing research results are analyzed and summarized to obtain the
research trends and pain points and difficulties in each field. On this basis,
the future outlook of trajectory tracking control is proposed, which is expected
to provide some help and inspiration to the research workers in this field.
