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

摘要： 文章分析了智能驾驶车辆纵、横向运动特性，作出合理假设，并建立纵横向车辆动力 学模型。分别设定车辆纵、横向运动的期望轨迹，基于线性二次型调节器（LQR）方法控制 车辆横向运动，运用比例-积分-微分（PID）控制器调节车辆纵向运动。结合 Carsim 软件建立 车辆运动模型，并在 Matlab/Simulink 中分别建立车辆纵、横向控制算法。仿真分析表明，车 辆纵、横向运动控制算法具有良好的控制效果，使得仿真车辆很好地跟踪了期望运动轨迹。 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

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