关键词: 智能驾驶；纵横向运动；线性二次型调节器；比例-积分-微分控制器；Carsim；Matlab/Simulink；车辆运动模型

Abstract: This paper analyzed the longitudinal and lateral motion characteristics of intelligent driving vehicles, made reasonable assumptions, and established longitudinal and lateral vehicle dynamics models. Set the desired trajectory of the longitudinal and lateral movement of the vehicle separately, control the lateral movement of the vehicle based on the linear quadratic regulator (LQR) method, and use the proportional-integral-derivative (PID) controller to adjust the longitudinal movement of the vehicle. Combine Carsim software to establish vehicle motion model, and establish vehicle longitudinal and lateral control algorithms in Matlab/Simulink. After simulation analysis, the vehicle longitudinal and lateral motion control algorithm has a good control effect, which makes the simulated vehicle track the expected motion trajectory well.

Key words: Intelligent driving; Longitudinal and lateral motion; Linear quadratic regulator; Proportional-integral-derivative controller; Carsim; Matlab/Simulink; Vehicle motion model