考虑曲率扰动的车辆自适应预瞄路径跟踪算法

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关键词：无人驾驶车辆;路径跟踪；曲率扰动；增广线性二次调节；自适应预瞄中图分类号：TP273；U463.6DOI：10.3969/j.issn.1004-132X.2026.03.023 开放科学（资源服务）标识码（OSID）：

Abstract：Path tracking control played a vital role in unmanned vehicle motion control，and the control performance was highly sensitive to road curvature rapid variations. Therefore，an adaptive preview path tracking control' method was proposed with curvature disturbance suppresson to enhance the robustness and accuracy of the systems under complex road conditions. By embedding curvature disturbances into the state vector，an augmented LQR problem was formulated and eficiently solved using a reduced-order Riccati equation. Subsequently，the feasibility of the preview controler was verified through frequencydomain response analyses.Furthermore，an adaptive strategy was designed for adjusting preview steps to dynamically optimize the preview distances based on vehicle speeds and the curvatures at the distant preview points.Hardware-in-the-loop simulations and real-vehicle tests confirm the method's efectiveness in improving tracking accuracy and driving stability.

Key words： unmanned vehicle； path tracking；curvature disturbance； augmented linear quadraticregulator（LQR）;adaptive preview

0 引言

随着智能化与自动化进程的不断推进，无人驾驶车辆的应用范围正在迅速拓展[1]。（剩余10520字）