The invention relates to a state feedback based vehicle
path tracking H-infinity control method, which comprises the steps of firstly acquiring
horizontal and vertical coordinates of a reference path, solving a reference course angle, finding a corresponding reference point on the reference path according to the current position of a vehicle, and calculating the position deviation and the course angle deviation between the reference point and a
current point of the vehicle; then improving a single-track traditional vehicle dynamic model into a position deviation and course angle deviation based dynamic model, and acquiring a state equation of the
system; then taking major influence factors for transverse
motion control of the vehicle in the model as bounded disturbance of the
system by referring to the
yaw rate, and designing a static state
feedback controller according to a state feedback H-infinity control law; and finally, converting into a convex
optimization problem with
linear matrix inequality constraints and a linear objective function, solving a
coefficient matrix of the controller by using a
linear matrix inequality
toolbox, acquiring controller output, namely, a
tire rotation angle, and thus realizing
path tracking control for the vehicle. The method provided by the invention is applicable to vehicle
path tracking control in complex traffic scenes.