自动驾驶车辆横向控制模型研究综述

Review on the Research of Lateral Control Model for Autonomous Vehicle

自动驾驶车辆能有效改善交通状况,减少交通事故并提高驾驶的舒适性和安全性。介绍自动驾驶车辆横向控制技术的国内外研究现状,其中动力学模型包括车辆动力学模型和轮胎模型力学模型。运动学模型包括以质心为中心点和以后轴中心点为中心点建立的运动学模型,横向控制模型包括基于车辆数学模型运用的控制方法、基于驾驶员模拟的控制方法和结合基于车辆数学模型和基于驾驶人模拟的控制方法,并以现有研究和目前信息技术的发展为基础对未来自动驾驶车辆横向控制技术的发展趋势进行预测。

Autonomous vehicle can improve traffic conditions effectively,reduce traffic accidents,and improve driving comfort and safety.The paper introduces current research status of lateral control model for autonomous vehicle at home and abroad.The dynamic model includes vehicle dynamic model and tire mechanics model.The kinetic model includes the center of mass as the center point and the center point of the rear axle as the center point.Lateral control model includes method based on the use of vehicle mathematical model,controls method based on driver simulation,and controls method based on vehicle mathematical model and driver simulation.According to the research and information technology,the future development trend of lateral control technolo-gy for autonomous vehicles is forecasted,a prospect forecast of lateral control model for autonomous vehicle is accomplished.