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

doi:10.3969/j.issn.1674-8484.2021.03.002

Abstract

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

CLC Number:

TP273

CAI Guoshun, LIU Haoji, FENG Jiwei, XU Liwei, YIN Guodong. Review on the research of motion planning and control for intelligent vehicles[J]. Journal of Automotive Safety and Energy, 2021, 12(3): 279-297.

Figures/Tables 18

References 170

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