When intelligent vehicles are driving on structured urban roads

due to the increased curvature of the road

the vehicle's speed entering the curve is too high

resulting in low tracking accuracy and poor stability of the path. Addressing this issue

a path tracking control strategy that introduces a speed regulation mechanism is proposed. On the basis of establishing the vehicle dynamics model

the method of determining the maximum safe speed in curves is present. Considering the influence of road curvature on the vehicle path tracking accuracy

the road curvature factor is introduced to design the vehicle driving speed based on the maximum safe speed. Linear model predictive control is adopted to achieve path tracking under speed regulation mechanism. The control strategy proposed in this paper is simulated and verified with the Simulink software and the Carsim software. The simulation results show that the proposed control strategy can adjust the vehicle driving speed in real-time based on road curvature

improve the path tracking accuracy and driving stability of vehicles under double lane change and large curvature conditions.