In the technologies of collision avoidance,the trajectory tracking is a very essential technology. A 10:1 collision avoidance car model was designed to accomplish the trajectory tracking. The car used TMS320F28335 DSP chip as the core of control module,and multiple sensors as the road of recognizing module. By acquiring the real time road information and the car's status information, the curvature of the road ahead can be got. According to section type control method, the car can automatically adjust the preview distance and the speed according to the curvature of the road ahead. In order to make the intelligent car follow the road,an appropriate preview-following driver model was established. Through the PWM wave drive the motor and servo, and the control of PID method, The experiments show that the car can follow the planning path,and have better accuracy and stability. These prove that the preview-following driver model to be correct, and it can accomplish the purpose of the path followed.%在车辆主动避撞技术中,路径跟随是一项必不可少的技术.以TMS320F28335 DSP为核心控制模块,以多传感器系统为路径识别模块,搭建了10∶1的主动避撞智能小车模型.通过获取实时路径信息和小车的状态信息得到前方道路的曲率.根据分段式控制方法,使小车能够自动根据路径的曲率调整预瞄距离和行驶速度.通过建立合适的预瞄跟随驾驶员模型,使小车能够跟随道路行驶.通过PWM波驱动舵机和电机,以及PID控制,实验结果表明,小车能够按照规划的路径稳定行驶,且跟随误差小.这证明所建立的预瞄跟随驾驶员模型是正确的,且能实现路径跟随的功能.
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