无人驾驶车辆运动控制综述

A survey of motion control for unmanned ground vehicles

中文关键词  无人驾驶  车辆模型  纵向控制  横向控制  耦合控制

英文关键词  unmanned driving  vehicle model  longitudinal control  lateral control  coupled control

中文摘要

      随着新一代人工智能的发展, 无人驾驶技术已成为国内外的战略研究热点. 无人驾驶车辆具有非线性动态特性强、参数不确定性大等特点, 是一种复杂的多输入多输出欠驱动系统, 同时车辆行驶过程中往往伴随大量的外部扰动以及不确定因素, 因此强鲁棒、高精度、快反应的运动控制策略仍是无人驾驶技术落地的关键. 本文以无人驾驶车辆运动控制为核心, 简单介绍了线控技术并系统论述了车辆模型、纵向控制、横向控制以及耦合控制的研究现状与进展, 旨在从理论算法与工程实践两个维度为相关科研人员提供参考.

英文摘要

      With the development of new generation of artificial intelligence, unmanned driving has become a strategic research hotspot at home and abroad. With nonlinear dynamic characteristics and parameter uncertainty, unmanned ground vehicle (UGV) is a complex multi-input and multi-output underactuated system. Simultaneously, the driving process is usually accompanied with lots of external disturbances and uncertainties. Therefore, the robust, high-precision and fast response motion control strategy is the key to the implementation of unmanned driving technology. By taking the motion control as the core, this paper gives a brief introduction of drive-by-wire technology systematically discusses the research status and progress of vehicle model, longitudinal control, lateral control and coupled control. It aims to provide some insights for researchers from the perspectives of theoretical algorithm and engineering practice.