智能汽车轨迹跟踪控制算法研究综述

Overview of Algorithm Research on Trajectory Tracking and Control for Intelligent Vehicles

轨迹跟踪和控制技术一直是智能汽车研究的热点。通过3个基本的建模方法,即几何动力学、运动学、动力学,将智能车辆轨迹跟踪控制算法进行分类,详细阐述了各种算法的原理、研究现状和优缺点,在此基础上继续讨论了轨迹跟踪算法的改进优化方向以及改进方向研究现状。结果表明,单一的控制方法不能满足智能汽车实际场景的操作需求,未来智能汽车的发展趋向于多种智能控制算法整合解决单一控制算法缺点。

Trajectory tracking and control technology has always been a hotspot in the research of intelligent vehicles.Through 3 basic modeling methods,that is,geometric dynamics,kinematics and dynamics,the intelligent vehicle trajectory tracking control algorithm is classified,the principles,research status,advantages and disadvantages of various algorithms are explained in detail.On this basis,continue The improvement and optimization direction of the trajectory tracking algorithm and the research status of the improvement direction are discussed.Analysis of optimization and improvement methods shows that a single control method cannot meet the operational requirements of the actual scene of smart cars,the development of smart cars in the future tends to integrate multiple smart control algorithms to solve the shortcomings of a single control algorithm.