Abstract
Lane-changing is a very common behavior in automatic driving, which seriously affects the safety of driving. Therefore, fast and safe lane-changing operation is of great significance in reducing traffic accidents. In this paper, a simple and efficient trajectory tracking controller is proposed, which is used to track the trajectory of driverless vehicle when the vehicle turns around, in order to achieve the optimal tracking effect and reduce the number of on-line operations of the controller. The orbit tracking effect in the course of changing course is discussed.