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汽车安全与节能学报

汽车安全与节能学报 ›› 2016, Vol. 07 ›› Issue (02): 151-159.DOI: 10.3969/j.issn.1674-8484.2016.02.003

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智能车辆运动控制研究综述

郭景华1,2，李克强2，罗禹贡2   

  1. 1. 厦门大学 机电工程系，厦门 384002，中国；
    2. 清华大学 汽车安全与节能国家重点实验室，北京 100084，中国
  • 收稿日期:2015-04-13 出版日期:2016-06-25 发布日期:2016-07-06
  • 作者简介:国家自然科学基金资助项目（61304193）
  • 基金资助:

    国家自然科学基金资助项目（61304193）

Review on the research of motion control for intelligent vehicles

GUO Jinghua1,2, LI Keqiang2, LUO Yugong2   

  1. 1. Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen 384002, China;
    2. State Key Laboratory of Automotive Safety and Energy, Tshinghua University, Beijing 100084, China
  • Received:2015-04-13 Online:2016-06-25 Published:2016-07-06

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摘要：

为了提升智能车辆综合行驶性能，该文论述了智能车辆运动控制理论与方法的研究现状，分析了国内外智能车辆横向与纵向运动控制技术。目前研究，集中在通过解耦方法单独设计横、纵向控制策略，但是未考虑随机不确定性及时滞特征、性能目标单一及缺乏通信技术支持。因而，未来智能车辆运动控制的重要研究方向是：通过无线通信及多传感器信息融合技术，实现综合考虑车辆和交通环境安全性、舒适性和经济性的多目标及车辆横向与纵向动力学的多系统协同控制，使智能车辆安全、舒适、节能和环保综合行驶性能达到最优。

关键词: 智能车辆, 横向控制, 纵向控制, 协作式, 车联网

Abstract:

This paper discussed the research status of motion control theories and the methods of intelligent vehicles with analyzing the lateral and longitudinal motion control technique of intelligent vehicles to promote the comprehensive driving performance of intelligent vehicles. The present study focused on the independent design of longitudinal and lateral control strategy of intelligent vehicles by the decoupling method, without considering the random uncertainty and time delay of vehicles, and with a single performance goal and utilized not effectively communication technology. Hence, the important research directions of dynamical control for intelligent vehicles in the future will be coordinated multi-objective and multi-system control of intelligent vehicle through the wireless communication and multi-sensor information fusion technology to make intelligent vehicles with optimal performances having a traffic environment on safety, comfort, fuel efficiency and environmental protection.

Key words: intelligent vehicles, lateral control, longitudinal control, coordinated, vehicular networking