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To improve the accuracy and stability of path tracking for light commercial vehicles under complex curvature conditions, in this paper a PredictivePure Pursuit (PPP) control method is proposed. Firstly, a PPP controller is designed based on the vehicle's discrete kinematic model, and a PID compensator is developed based on heading error to enhance tracking accuracy and stability. Secondly, to address the challenge of maintaining both accuracy and stability under complex curvature conditions with a fixed prediction horizon algorithm, a variable prediction horizon optimization algorithm is proposed. A cost function based on the lateral and curvature errors within the prediction horizon is established, and Bayesian optimization is used to determine the optimal prediction horizon, resolving the conflict between accuracy and stability. Finally, TruckSim/Simulink cosimulation and real vehicle tests are conducted. In the real vehicle tests, the root mean square values of the lateral error, heading error, and steering wheel angle for the Bayesianoptimized PPP controller is 0.113 m, 0.045 rad, and 153.2°, respectively, all of which are superior to the corresponding metrics of the PPP controller based on fuzzy control and the MPC controller, indicating that the proposed controller maintains good precision and stability under complex curvature conditions.
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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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