Adaptive Preview Path Tracking Algorithm for Vehicles Considering Curvature Disturbance

doi:10.3969/j.issn.1004-132X.2026.03.023

China Mechanical Engineering ›› 2026, Vol. 37 ›› Issue (3): 735-742.DOI: 10.3969/j.issn.1004-132X.2026.03.023

Adaptive Preview Path Tracking Algorithm for Vehicles Considering Curvature Disturbance

ZHANG Lin¹^,²(), BI Yuchen¹, ZHAO Ning², SUN Mingyan², WEI Chao³(), YAN Yunbing¹

^1.School of Automotive and Traffic Engineering，Wuhan University of Science and Technology，Wuhan，430081
^2.National Key Laboratory of Special Vehicle Design and Manufacturing Integration Technology，Inner Mongolia First Machinery Group Co. ，Ltd. ，Baotou，Inner Mongolia，014030
^3.Key Laboratory of Intelligent Unmanned System Technology，Beijing Institute of Technology，Beijing，100081

Received:2024-09-23 Revised:2025-12-12 Online:2026-03-25 Published:2026-04-08
Contact: WEI Chao

考虑曲率扰动的车辆自适应预瞄路径跟踪算法

张琳¹^,²(), 毕宇辰¹, 赵宁², 孙茗妍², 魏超³(), 严运兵¹

^1.武汉科技大学汽车与交通工程学院, 武汉, 430081
^2.内蒙古第一机械集团有限公司特种车辆设计制造集成技术全国重点实验室, 包头, 014030
^3.北京理工大学智能无人系统技术重点实验室, 北京, 100081

通讯作者: 魏超
作者简介:张琳，女，1992年生，副教授、博士。主要研究方向为车辆动力学及其控制、智能车辆无人驾驶技术。E-mail：zhanglinbit@163.com
魏超^*（通信作者），男，1980年生，教授。主要研究方向为无人驾驶车辆总体设计、电动汽车总体设计与智能控制技术。E-mail：BIT_weichao1@163.com。
基金资助:
国家自然科学基金(52405070);特种车辆设计制造集成技术全国重点实验室开放课题(GZ2023KF004);教育部“春晖计划”合作科研项目(HZKY20220330)

Abstract

Abstract:

Path tracking control played a vital role in unmanned vehicle motion control， and the control performance was highly sensitive to road curvature rapid variations. Therefore， an adaptive preview path tracking control method was proposed with curvature disturbance suppression to enhance the robustness and accuracy of the systems under complex road conditions. By embedding curvature disturbances into the state vector， an augmented LQR problem was formulated and efficiently solved using a reduced-order Riccati equation. Subsequently， the feasibility of the preview controller was verified through frequency-domain response analyses. Furthermore， an adaptive strategy was designed for adjusting preview steps to dynamically optimize the preview distances based on vehicle speeds and the curvatures at the distant preview points. Hardware-in-the-loop simulations and real-vehicle tests confirm the method's effectiveness in improving tracking accuracy and driving stability.

Key words: unmanned vehicle, path tracking, curvature disturbance, augmented linear quadratic regulator（LQR）, adaptive preview

摘要：

路径跟踪控制在无人驾驶车辆运动控制中至关重要，其控制性能易受到道路曲率快速变化的干扰。提出了一种面向曲率扰动抑制的自适应预瞄路径跟踪控制方法以提高系统在复杂道路环境下的鲁棒性与精度。通过将扰动项嵌入状态向量构造增广线性二次调节问题，并采用高阶Riccati方程降维求解策略进行求解。随后，经频域响应分析验证预瞄控制器的可行性。依据车速和远端预瞄点曲率设计动态调整预瞄步数的自适应调节策略，实现对预瞄距离的在线优化。硬件在环仿真与实车测试验证了路径跟踪算法提高路径跟踪精度与改善行驶稳定性的有效性。

关键词: 无人驾驶车辆, 路径跟踪, 曲率扰动, 增广线性二次调节, 自适应预瞄

CLC Number:

TP273

ZHANG Lin, BI Yuchen, ZHAO Ning, SUN Mingyan, WEI Chao, YAN Yunbing. Adaptive Preview Path Tracking Algorithm for Vehicles Considering Curvature Disturbance[J]. China Mechanical Engineering, 2026, 37(3): 735-742.

张琳, 毕宇辰, 赵宁, 孙茗妍, 魏超, 严运兵. 考虑曲率扰动的车辆自适应预瞄路径跟踪算法[J]. 中国机械工程, 2026, 37(3): 735-742.

Figures/Tables 11

Fig.1 Vehicle monorail model

Fig.2 Schematic of reference path projection

Fig.3 Comparison of frequency response

Fig.4 Hardware-in-the-loop simulation

Tab.1 Vehicle parameters for simulation

参数	数值
车辆质量m/kg	1317
车辆转动惯量I_z/（kg·m）²	1426.6
重心到前后轴距离a、b/m	1.01、1.815
前后车轮侧偏刚度C_f、C_r/（N·rad^-1）	146960、81104
行驶车速v/（m·s^-1）	10

Fig.5 Simulation results of pre-scanning control performance

Fig.6 Simulation results of the performance of adaptive pre-scanning strategy

Fig.7 The experimental vehicle

Fig.8 The experimental road

Fig.9 Road curvature

Fig.10 Real vehicle test results

References 14

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Adaptive Preview Path Tracking Algorithm for Vehicles Considering Curvature Disturbance

考虑曲率扰动的车辆自适应预瞄路径跟踪算法

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Figures/Tables 11

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