主办：陕西省汽车工程学会
ISSN 1671-7988  CN 61-1394/TH
创刊：1976年
汽车实用技术

汽车实用技术 ›› 2022, Vol. 47 ›› Issue (4): 158-161.DOI: 10.16638/j.cnki.1671-7988.2022.004.037

• 综述 • 上一篇    

智能汽车横纵向运动控制方法综述

郝 悦   

  1. 长安大学 汽车学院
  • 发布日期:2022-04-27
  • 通讯作者: 郝 悦
  • 作者简介:郝悦（1996—），硕士研究生，主要研究方向为无人驾驶。

Overview on the Research of Lateral and Longitudinal Control for Intelligent Vehicles

HAO Yue   

  1. School of Automobile, Chang'an University
  • Published:2022-04-27
  • Contact: HAO Yue

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摘要： 在我国随着人民生活水平的提高，车辆保有量也在呈倍速增长，进而引起了大量的交通安 全问题，其中由驾驶员操作不当引起的交通事故约占所有交通事故的 77%。而汽车的智能化发展 可以很好地解决此类交通安全问题。智能汽车的核心技术主要包括环境感知、行为决策及运动控 制三方面。其中运动控制作为智能汽车核心技术之一，有着重要的研究意义。智能汽车的运动控 制包括横向控制和纵向控制两部分，对汽车横、纵向运动控制中的多种方法进行了分析介绍，包 括模型预测控制、模糊逻辑控制、神经网络的自适应滑膜控制、直接式控制和分层式控制；同时 介绍了横纵向耦合实现运动控制的重要性，并分析了其研究现状；最后，对智能汽车运动控制的 后续发展方向进行了展望，有助于智能汽车运动控制的进一步优化发展。

关键词: 智能汽车；横向运动控制；纵向运动控制

Abstract: In my country, with the improvement of people's living standards, the number of vehicles is also increasing at a double speed, which has caused a large number of traffic safety problems. Among them, traffic accidents caused by improper operation of drivers account for about 75% of all traffic accidents. The intelligent development of vehicles can well solve such traffic safety problems. The core technologies of intelligent vehicles mainly include three aspects: environmental perception, behavioral decision-making and motion control. Among them, motion control, as one of the core technologies of intelligent vehicles, has important research significance. The motion control of intelligent vehicles includes two parts: horizontal motion control and longitudinal motion control. Various methods of vehicle horizontal and longitudinal motion control are analyzed and introduced, including model predictive control, fuzzy logic control, neural network adaptive synovial control, direct control and hierarchical control. At the same time, the importance of horizontal and longitudinal coupling to realize motion control is introduced, and its research status is analyzed. Finally, the follow-up development direction of intelligent vehicle motion control is prospected, which is helpful for the further optimization and development of intelligent vehicle motion control.

Key words: Intelligent vehicle; Lateral motion control; Longitudinal motion control