关键词: 自动驾驶；横向控制；预瞄时间；斯坦利控制算法；硬件在环

Abstract: The Stanley algorithm, which utilizes the front wheel center as the error reference point, Stanley-real vehicle" in hardware simulation and real vehicle test results, the overall error of the "preview-Stanley" algorithm is smaller than that of the Stanley algorithm; On the other hand, by comparing the lateral errors of "preview-Stanley-simulation" and "preview-Stanley-real vehicle", the accuracy and fidelity of the created hardware-in-the-loop system are verified. lacks the human-like forward-looking driving characteristic, resulting in frequent directional corrections. Furthermore, the current autonomous driving simulation methodologies and platforms are limited in their fidelity, making it difficult to effectively validate the practical impact of algorithm improvements. In this paper, a "preview-Stanley" control algorithm combining the optimal preview theory and Stanley control algorithm is proposed. Firstly, a virtual integrated navigation module and a vehicle controller area network (CAN) communication module are created based on Carla simulation platform. Then, the simulation platform of the autopilot domain controller-in-the-loop is built, and the "preview-Stanley" algorithm is deployed in the autopilot domain controller and testedin-the-loop. Finally, the real vehicle test under the real physical scene is verified. The results show that, on the one hand, by comparing the lateral errors of "Stanley-real vehicle" and "preview-

Key words: Automatic driving; Lateral control; Preview time; Stanley control algorithm; Hardwarein-the-loop