无人驾驶车辆横向控制策略研究进展

Research Progress on Lateral Control Strategy of Unmanned Vehicles

国务院《新一代人工智能发展规划》指出无人驾驶技术是发展新一代人工智能的重点任务之一。以无人驾驶车辆横向控制的试验和相关研究成果为基础,分析了无人驾驶车辆的研究动态,分别从经典控制、现代控制、智能控制、横纵向综合控制4个方面阐述了无人驾驶车辆的横向控制策略。分析结果表明:考虑无人驾驶车辆系统的非线性、时变特性和不确定性,发展数据驱动控制、多种控制策略和智能算法的结合使用将是无人驾驶车辆横向控制的研究热点,特别是横向和纵向动力学的多系统协同控制,将是今后的研究重点。

The State Council s"New Generation Artificial Intelligence Development Plan"pointed out that driverless technology is one of the key tasks of developing a new generation of artificial intelligence.Based on the experiments and relevant research results of lateral control of unmanned vehicles,the research analyzes the research progress of unmanned vehicles.The horizontal control strategy of unmanned vehicles is described from four perspectives,i.e.classical control,modern control,intelligent control and horizontal and vertical integrated control.The analysis results show that,considering the non-linearity,time-varying characteristics and uncertainty of the unmanned vehicle system,the development and application of data-driven control,the combination of multiple control strategies and intelligent algorithms,especially the lateral and vertical integrated control technology,are the research hotspots of the lateral control of unmanned vehicles in the future.