翻译：一个基于有限时间的侧滑切线LOSSLOS被用来确保侧滑角的收敛。然而如前所述LOS算法不能保证偏航角在有限时间内收敛这意味着无法确定路径跟踪的及时性。同时一个影响路径收敛速度的因素常常被忽视即看距总是被当作一个常数

A limited-time Sliding Line-of-Sight (SLOS) is used to ensure convergence of the sideslip angle. However, as mentioned earlier, the LOS algorithm cannot guarantee convergence of the yaw angle within a limited time, which means the timeliness of path tracking cannot be determined. At the same time, a factor that affects the speed of path convergence is often ignored, namely, the look-ahead distance is always treated as a constant.