智能汽车横向控制方法研究综述

摘要

智能汽车在提高行驶安全性和减少交通事故方面有很大的优势,已成为世界范围内的研究热点.综述了智能汽车横向控制的国内外发展历程与研究现状;介绍了车辆横向动力学和轮胎力学的研究历程和模型;阐述了智能汽车横向控制理论和方法以及自动转向执行机构的设计;给出智能汽车横向控制研究的重点和发展趋势.通过分析认为,系统非线性、不确定性和时变特性的智能汽车横向动力学建模和横向控制器设计,特别是高速时的横向控制,以及智能车辆感知决策系统与车辆本身系统的一体化设计,将是今后研究的重点.%Intelligent vehicle,which has great advantages in enhancing the driving safety and diminishing road accidents,has become an emerging research focus worldwide.The development and research current status of lateral control for intelligent vehicles at home and abroad are reviewed.The research process and modeling of vehicle lateral dynamics and tire dynamics,the theory and methods of lateral control,and the automatic steering actuator design are discussed and summarized.Several research issues and development trends of lateral control of intelligent vehicles are presented,in which the modeling of vehicle lateral dynamics and the lateral controller design concerning the nonlinearity,uncertainties and time-varying characteristics,particularly in high speed lateral control,and the integrated design combining sensing,perception and decision-making systems with vehicle system dynamics will be research focuses in the future.