考虑延时的自动驾驶横向控制综述与分析

Review and analysis of lateral control in autonomous drivingwith consideration of delay

随着科技的进步和创新,自动驾驶技术取得了显著的发展。在自动驾驶系统中,车辆的横向控制在实现精确路径跟踪和稳定行驶中起着关键作用,由于传感器数据传输、控制器数据处理和执行器转向响应等因素的存在,延时问题在车辆自动驾驶控制系统中不可避免,然而延时会恶化横向控制的性能和稳定性,因此考虑延时的横向控制方法备受关注。文章旨在对考虑延时的横向控制方法进行总结和分类,简要介绍了车辆模型和横向控制方法,分析了延时产生的原因和延时模型,并从基于延时预测补偿、延时状态空间增广和延时扰动鲁棒控制等3个方面对考虑延时的横向控制方法进行介绍。

With the progress and innovation in science and technology,automatic driving technology has made remarkable advancements.In automatic driving systems,the lateral control of vehicles plays a key role in realizing precise path tracking and ensuring stable driving.However,due to various issues including the transmission of sensor data,processing of controller data,and steering response from actuators,delays in control systems for automatic driving are unavoidable.These delays can deteriorate the lateral control performance and stability.Consequently,lateral control methods that take these delays into account have attracted a lot of attention.This paper summarizes and classifies these methods,and briefly introduces vehicle models and the lateral control techniques.Additionally,it analyzes the causes of delays and presents a delay model.The discussion focuses on three aspects of lateral control methods that address delays:delay-based predictive compensation,delay state-space augmentation,and robust control of delay disturbances.