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

摘要： 针对大型铰接式公交车由于车身过长及车辆模型复杂，而导致在复杂路况下路径跟踪 存在的横向控制精度低、动态失稳及环境适应性不足等问题，文章以车长为 18 m 的铰接式纯 电公交车为研究对象，提出基于预瞄策略的纯跟踪（PP）算法和融合前馈补偿的线性二次调 节器（LQR）控制算法对车辆进行横向控制，并通过实车实验，在中低速工况下对两种算法的 横向控制性能展开对比分析；实验在具有典型城市工况的工业园区内部道路进行，充分验证 算法的通用性。结果表明，LQR 控制算法凭借其基于系统状态空间模型的优化策略，在中高 速行驶及复杂路况下，其控制精度与鲁棒性方面更具优势，而 PP 算法则得益于其简单易实现的 特性，在低速及常规路况下能够快速响应道路曲率变化，实现车辆对预定轨迹的紧密跟踪。

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