面向超薄承载机器人的横向运动控制算法研究

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中图分类号：U467.4 文献标志码：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，Fuzzy PID，Lateral control， Intelligent connected vehicle testing， Path tracking

【引用格式】罗天宇，吴俊，高东光，等.面向超薄承载机器人的横向运动控制算法研究[J].汽车工程师，2025（5）：23-28.LUOTY，WUJ，GAODG，etal.ResearchonLateral MotionControlAlgorithmforUltra-ThinCarrierRobots[J].Automotive Engineer，2025（5）：23-28.

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动态性能的测试与验证变得尤为重要[1-2]。（剩余7181字）