桂林电子科技大学学报2026，Vol.46Issue(1)：1-9,9.DOI:10.16725/j.1673-808X.2025265
联合参数整定与自适应的ADRC车道保持策略
ADRC lane-keeping strategy with joint parameter tuning and adaptation
摘要
Abstract
With the development of intelligent driving technology,lane keeping has become an important function for active safety in commercial vehicles.However,under the influence of load variations,delayed steering response,and complex road disturbances,traditional control methods struggle to balance dynamic tracking performance and robustness.Active Disturbance Rejection Control(ADRC)exhibits good system adaptability,however,its parameter tuning relies heavily on empirical experience and lacks a dynam-ic optimization mechanism.To address this issue,a lane-keeping strategy combining parameter tuning with adaptive ADRC is pro-posed.This strategy optimizes controller parameters using the Adaptive Particle Swarm Optimization(APSO)algorithm and intro-duces a self-learning coefficient module to enhance system adaptability and stability in correcting lane deviations under different loads and road conditions.Simulation results show that,compared with traditional ADRC and Model Predictive Control(MPC)methods,the proposed method reduces vehicle lateral deviation more quickly while ensuring steering safety.Additionally,the pro-posed method exhibits lower computational complexity and smaller convergence values.关键词
自抗扰控制/参数整定/自适应模块/APSO算法/TruckSim仿真Key words
active disturbance rejection control(ADRC)/parameter tuning/adaptive module/adaptive particle swarm optimization(APSO)algorithm/TruckSim simulation分类
交通工程引用本文复制引用
李俊南,朱蕊,赖凡,汤淑芳,黄美发..联合参数整定与自适应的ADRC车道保持策略[J].桂林电子科技大学学报,2026,46(1):1-9,9.基金项目
广西高校中青年教师科研基础能力提升项目(2023KY1775) （2023KY1775）
