自动驾驶横向控制模型及方法研究综述

Review on the Method and Model of Intelligent Vehicle Lateral Control

回顾了自动驾驶的历史,并对用于智能汽车横向控制的整车横向模型和横向控制理论进行梳理和介绍。应用于控制和仿真建模的车辆模型一般有考虑轮胎受力的非线性动力学模型、针对小转角工况的线性动力学模型以及针对低速工况的运动学模型。应用于横向控制的方法有经典控制、最优控制、鲁棒自适应滑模等智能控制以及基于大数据的驾驶员模型控制方法。针对各类控制模型和控制方法进行了评述,并最终根据现有研究成果和趋势完成预测和总结。

In this paper,the history of automatic drive is briefly retrospected.The non-linear dynamic model,linearized dynamic model,and kinetic model for vehicle lateral control are summarized.The control methods and theories of vehicle control are also reviewed,which include classical control theory,optimal control theory,intelligent control strategy such as robust control and self-adaptive control,and the driver model method based on big data.According to the research achievement and trends,a summary and prospect forecast are accomplished at the end of this paper.