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汽车安全与节能学报

汽车安全与节能学报 ›› 2021, Vol. 12 ›› Issue (3): 279-297.DOI: 10.3969/j.issn.1674-8484.2021.03.002

• 综述与展望 • 上一篇    下一篇

智能汽车的运动规划与控制研究综述

采国顺(), 刘昊吉(), 冯吉伟, 徐利伟, 殷国栋*()   

  1. 东南大学 机械工程学院,南京 211189,中国
  • 收稿日期:2021-09-22 出版日期:2021-09-30 发布日期:2021-10-01
  • 通讯作者: 殷国栋
  • 作者简介:* 殷国栋（1976—）,男（汉族）,教授。E-mail: ygd@seu.edu.cn。殷国栋 教授博士,江苏省特聘教授,东南大学首席教授,博士生导师,教务处长。国家杰出青年科学基金获得者。兼任教育部高等学校工程训练教学指导委员会委员、江苏省智能网联汽车标准化技术委员会副主任委员、江苏省汽车工程学会副理事长等职务。近5年,主持国家自然基金重点项目、国家自然科学基金面上项目等13项课题,发表学术论文150余篇,以第一完成人获得教育部科技进步一等奖等省部级奖励3项。
    Prof. YIN Guodong Ph. D, a distinguished professor in Jiangsu Province, a chief professor in Southeast University, a doctoral supervisor and the winner of the National Science Fund for Distinguished Young Scholars. He is a member of the Engineering Training Teaching Lead Committee of the Ministry of Education, the vice-chairman of Jiangsu Intelligent connected Vehicle Standardization Technical Committee, and the vice president of Jiangsu Automotive Engineering Society, etc. In the past 5 years, he has presided over 13 programs, including key programs of the National Natural Science Foundation of China, and general programs of the National Natural Science Foundation of China, published more than 150 academic papers, and won 3 provincial and ministerial level awards as the first completer, such as the First Prize of Science and Technology Progress of the Ministry of Education.
    采国顺（1993—）,男（汉族）,安徽,博士研究生。E-mail: caiguoshun@seu.edu.cn。
    刘昊吉（1997—）,男（汉族）,安徽,硕士研究生。E-mail: hjl@seu.edu.cn。
  • 基金资助:
    国家自然科学基金面上项目(51975118);国家自然科学基金面上项目(52025121);国家自然科学基金面上项目(52002066)

Review on the research of motion planning and control for intelligent vehicles

CAI Guoshun(), LIU Haoji(), FENG Jiwei, XU Liwei, YIN Guodong*()   

  1. School of Mechanical Engineering, Southeast University, Nanjing 211189, China
  • Received:2021-09-22 Online:2021-09-30 Published:2021-10-01
  • Contact: YIN Guodong

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摘要：

为了实现智能汽车安全、高效地行驶,该文论述了智能汽车运动规划与控制理论与方法的研究现状,分析了国内外智能汽车路径规划、轨迹规划与横、纵向运动控制技术。研究表明,当前的运动规划多以简化车辆模型和约束为前提,较少考虑真实环境约束（如通讯损失、信息安全及混合交通）;当前的运动控制多集中在横、纵向独立控制,未深入考虑系统非线性特性、时滞现象与随机不确定性。因此,该文提出智能汽车运动规划与控制的重要发展方向是:基于多源感知信息融合与先进通信技术,进一步提升运动规划与控制能力,实现复杂动态场景下兼顾车辆横、纵向动力学的多目标综合协同控制,达到智能汽车行驶安全性、经济性以及舒适性的最优实现。

关键词: 智能汽车, 运动规划, 运动控制, 发展趋势, 研究现状

Abstract:

This paper discussed the research status of motion planning and control theories and methods for intelligent vehicles with analyzing the path planning, trajectory planning, lateral and longitudinal control technique to promote the comprehensive driving performance. The present research of motion planning mostly based on the vehicle models and constraints simplifying with less consideration of the communication loss, network security, and mixed traffic scenarios. And the present research on control techniques focused on the design of lateral and longitudinal control strategy independently, and without considering the system non-linear characteristics, time delay and random uncertainty in depth. Hence, to realize the comprehensive multi-objective collaborative control with satisfying the lateral and longitudinal dynamics in complex dynamic scenarios, utilizing the multi-sensor information fusion and advanced communication technology is a significant research direction for safety and economy driving of intelligent vehicles.

Key words: intelligent vehicles, motion planning, motion control, development tendency, research status

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