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To address the issues of poor tracking accuracy and driving stability caused by uncertain model parameters, modeling errors, and external disturbances, this paper proposes a motion control method for intelligent vehicles based on horizontal and longitudinal dual preview PID compensation. Firstly, an LQR（Linear Quadratic Regulator lateral motion controller is established using a path tracking error model to address angle compensation. This is achieved through a lateral previewing PID controller, utilizing the lateral deviation of the preview point as input. Secondly, a longitudinal motion controller is designed based on model-independent fuzzy theory to track vehicle speed. A previewing PID controller is established to compensate for vehicle speed using the longitudinal deviation of the preview point as input. Finally, the proposed method is validated through simulation under with uniform accelerated double lane shift. Simulation results demonstrate that the intelligent vehicle motion controller based on horizontal and longitudinal dual preview PID compensation achieves higher tracking accuracy and driving stability under conditions of high speed and large curvature during double lane shifts.
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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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