AI 中文总结
本文提出一种可扩展横向控制框架，通过对基于回旋曲线的控制器改进，结合灵活跟踪点选择与仿真验证，实现单体与铰接式自动驾驶车辆的高速鲁棒路径跟踪。
AI 中文摘要
本文提出了一种可扩展的横向控制框架，用于实现单体与铰接式自动驾驶车辆在高速下的鲁棒路径跟踪。对基于回旋曲线（clothoid）的控制器进行了三项关键改进：1）集成切线检查与弗雷歇距离（Frechet distance）方法，用于优化预瞄范围并抑制振荡；2）实时轨迹段分类，用于动态调整预瞄搜索范围；3）双自适应、速率控制的预瞄机制，可响应横向偏差与前方路径几何特征。为适配不同车辆配置，该框架还纳入了灵活的跟踪点选择与曲率-转向角查找表，可在不改变核心控制架构的情况下，控制牵引车后轴、铰接点或挂车相关位置等跟踪点。通过高保真的TruckSim与Simulink仿真，对单体与铰接式车辆在双车道变换、蜿蜒道路场景下进行了评估。结果表明，该控制器在不同车辆配置下可实现稳定的高速路径跟踪，振荡减少，预瞄自适应效果良好，横向偏差低，侧向加速度处于可接受范围。这些结果支持采用统一的横向控制架构，该架构可从单体车辆扩展至铰接式自动驾驶车辆。
英文摘要
This paper presents a scalable lateral control framework for robust path tracking of single-body and articulated autonomous vehicles at high speeds. A clothoid-based controller is extended with three key adaptations: 1) an integrated tangential check and Frechet distance method for optimized lookahead and oscillation mitigation; 2) real-time trajectory segment classification for dynamic adjustment of the lookahead search range; and 3) a dual-adaptive, rate-controlled lookahead mechanism responsive to cross-track error and upcoming path geometry. To support different vehicle configurations, the framework also incorporates flexible tracking point selection and curvature-to-steering lookup tables, enabling control of points such as the tractor rear axle, hitch point, or trailer-related locations without changing the core control architecture. The controller is evaluated using high-fidelity TruckSim and Simulink simulations for both standalone and articulated vehicles across dual lane changes and winding-road scenarios. Results demonstrate stable high-speed path tracking, reduced oscillations, effective lookahead adaptation, low cross-track errors, and acceptable lateral acceleration across different vehicle configurations. The results support the use of a unified lateral control architecture that can scale from single-body to articulated autonomous vehicles.
CommentsPresented as the plenary presentation at the 29th International Symposium on Dynamics of Vehicles on Roads and Tracks (IAVSD 2025), Shanghai, China, August 18-22, 2025. Proceedings forthcoming in Springer Lecture Notes in Mechanical Engineering
