摘要
平稳控制车辆,按照期望路径安全、准确行驶是智能汽车实现无人驾驶的基础。汽车运动控制作为汽车领域研究的热点之一,近年来国内外科研人员开展了一系列研究。对近年来的相关研究成果进行归纳整理,对智能汽车运动控制分类阐述,并对智能汽车运动控制算法的研究现状进行系统总结分析,指出各种控制方法的特点。针对目前研究存在的一些问题及未来研究方向,总结提出多考虑极限工况,探讨多算法互相融合、相互协同控制并加强实车验证。
Controlling the vehicle smoothly and driving safely and accurately according to the desired path is the basis for autonomous vehicles to realize autonomous driving.As one of the hotspots in automotive field,vehicle motion control has been carried out by researchers at home and abroad in recent years.This paper summarizes the relevant research achievements in recent years,elaborates the classification of autonomous vehicle motion control,systematically summarizes and analyzes the research status of autonomous vehicle motion control algorithms,and points out the characteristics of various control methods.At the same time,in view of some problems existing in the current research and future research directions,conclusions are presented that more ultimate conditions should be considered,the mutual integration and cooperative control of multiple algorithms should be discussed,and the real vehicle verification should be strengthened.
作者
杨薪敬
Yang Xinjing(School of Traffic&Transportation,Chongqing Jiaotong University,Chongqing 400074)
出处
《汽车文摘》
2022年第9期27-32,共6页
Automotive Digest
基金
工业控制技术国家重点实验室开放课题(ICT2022B08)。
关键词
智能汽车
运动控制
控制方法
算法
Autonomous vehicle
Motion control
Control method
Algorithm
