面向超薄承載機器人的橫向運動控制算法研究

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中圖分類號：U467.4 文獻標志碼：A DOI：10.20104/j.cnki.1674-6546.20240421

【Abstract】To address the issue of limited path tracking abilityof Ultra-thin Carier Robot （UCR）in complex test scenariosin inteligentconnectedvehicletesting，thispaperproposesanimproved Stanleylateral motioncontrolalgorithm. Firstly，the kinematicmodelofthe UCRisestablishedbasedontheAckermannstering principle，ndthebicyclemodel is used tosimplifythesteeringsystemoftheUCR.Then，afuzzyPIDcontrolerisintroducedonthebasisof the traditional Stanleyalgorithminorder toenhancetheadaptivefeedbackcapabilityof thealgorithm.Theresultsof thejointsimulationof CarSim and MATLAB/Simulink show that the modified Stanleyalgorithm reduces the average lateral error by 50.67%and the maximumlateralerorby41.76%atdiferentspeedscomparedwiththetraditionalalgorithm.Thereal-vehicletestfurther confirmsthattheimprovedalgorithmperforms wellinmediumand high-speed straightlineandlanechanging scenarios，with theaveragelateral errorlessthanO.O5mand the maximumlateralerorlessthanO.17m.It meets thetestingrequirementsof intellgentconnectedvehiclesindiferentscenariosandrealizeshigh-speedand high-precisionlateralmotioncontrolf the UCR.

KeyWords：Ultra-thin Carrier Robot （UCR），Stanleyalgorithm，F(xiàn)uzzy PID，Lateral control， Intelligent connected vehicle testing， Path tracking

【引用格式】羅天宇，吳俊，高東光，等.面向超薄承載機器人的橫向運動控制算法研究[J].汽車工程師，2025（5）：23-28.LUOTY，WUJ，GAODG，etal.ResearchonLateral MotionControlAlgorithmforUltra-ThinCarrierRobots[J].Automotive Engineer，2025（5）：23-28.

1前言

動態(tài)性能的測試與驗證變得尤為重要[1-2]。（剩余7181字）