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 ›› 2026, Vol. 51 ›› Issue (17): 40-45.DOI: 10.16638/j.cnki.1671-7988.2026.017.006

• 智能网联汽车 • 上一篇    

自动驾驶模式下的车辆车道保持驾驶 稳定性研究

刘正森   

  1. 济南新技术应用学校
  • 发布日期:2026-09-07
  • 通讯作者: 刘正森
  • 作者简介:刘正森（1988－），男，讲师，研究方向为汽车运用与维修

Research on driving stability of vehicle lane keeping under autonomous driving mode

LIU Zhengsen   

  1. Jinan New Technology Application School
  • Published:2026-09-07
  • Contact: LIU Zhengsen

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摘要： 车道保持系统是自动驾驶的关键功能，其稳定性直接关系行车安全。为此，文章构建 了考虑轮胎非线性、悬架侧倾及路面附着影响的车辆-道路耦合动力学模型，提出基于预瞄偏 差补偿的模糊滑模控制策略，并利用李雅普诺夫理论证明闭环系统的渐近稳定性。仿真模型 参数基于某型量产轿车实车数据进行选取和标定，结果显示，该策略在不同车速和道路曲率 下均具备较高轨迹跟踪精度与横向稳定性，横向偏差控制在 0.15 m 以内，满足自动驾驶安全 要求。

关键词: 自动驾驶；车道保持；横向动力学

Abstract: Lane keeping system is a key function of autonomous driving, and its stability is directly related to driving safety. To this end, this paper constructs a vehicle-road coupled dynamics model that takes into account tire nonlinearity, suspension roll, and road adhesion effects, and proposes a fuzzy sliding mode control strategy based on preview deviation compensation. The asymptotic stability of the closed-loop system is proved using Lyapunov theory. The simulation model parameters are selected and calibrated based on real vehicle data of a certain production sedan. The results show that the proposed strategy achieves high trajectory tracking accuracy and lateral stability under different vehicle speeds and road curvatures, with lateral deviation controlled within 0.15 m, meeting the safety requirements of autonomous driving.

Key words: autonomous driving; lane keeping; lateral dynamics