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To address the issue of limited path tracking ability of Ultra-thin Carrier Robot (UCR) in complex test scenarios in intelligent connected vehicle testing, this paper proposes an improved Stanley lateral motion control algorithm. Firstly, the kinematic model of the UCR is established based on the Ackermann steering principle, and the bicycle model is used to simplify the steering system of the UCR. Then, a fuzzy PID controller is introduced on the basis of the traditional Stanley algorithm in order to enhance the adaptive feedback capability of the algorithm. The results of the joint simulation of CarSim and MATLAB/Simulink show that the modified Stanley algorithm reduces the average lateral error by 50.67% and the maximum lateral error by 41.76% at different speeds compared with the traditional algorithm. The real-vehicle test further confirms that the improved algorithm performs well in medium and high-speed straight line and lane changing scenarios, with the average lateral error less than 0.05 m and the maximum lateral error less than 0.17 m. It meets the testing requirements of intelligent connected vehicles in different scenarios and realizes high-speed and high-precision lateral motion control of the UCR.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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