关键词: 轨迹跟踪；PP 算法；LQR 控制算法；横向控制；铰接式公交车

Abstract: To address the problems of low lateral control precision,dynamic instability,and insufficient environmental adaptability in path tracking for large articulated bus under complex road conditions,stemming from their excessive body length and complex vehicle models.Taking an 18 m long articulated pure electric articulated bus as the research object,the paper proposes a lateral control for the vehicle based on a pre-aiming strategy pure pursuit (PP)algorithm and a linear quadratic regulator (LQR)control algorithm integrated with feedforward compensation.The lateral control performance ofthese two algorithms is compared through real-vehicle experiments under the condition of low and medium speed.The experiments are conducted on internal roads within an industrial park,featuring typical urban conditions,to thoroughly validate the algorithms'general applicability.The results demonstrate that the LQR control algorithm,leveraging its optimization strategy in a system state-space model,exhibits advantages in control precision and robustness during medium-to-high-speed driving in complex scenarios. Conversely, the PP algorithm, benefiting from its characteristics of simplicity and ease of implementation,rapidly responds to road curvature changes at low speeds and under conventional road conditions,achieving the close tracking of vehicle to the predetermined trajectory.

Key words: path tracking;PP algorithm;LQR control algorithm;lateral control;articulated bus