无人驾驶汽车路径跟踪算法研究综述  

A review of path tracking algorithms for driverless vehicles

作　　者：陈耀庭 郑燕萍[1] CHEN Yao-ting;ZHENG Yan-ping(School of Automobile and Traffic Engineering,Nanjing Forestry University,Nanjing Jiangsu 210037,China)

机构地区：[1]南京林业大学汽车与交通工程学院,江苏南京210037

出　　处：《林业机械与木工设备》2023年第6期21-26,35,共7页Forestry Machinery & Woodworking Equipment

基　　金：江苏省重点研发计划项目(BE2017008)。

摘　　要：无人驾驶技术旨在提高驾驶安全性、准确性、舒适性,路径跟踪是无人驾驶汽车运动控制模块的基本组成部分,其控制算法直接影响着路径跟踪效果。在研究国内外路径跟踪控制算法应用成果的基础上,从低速和高速不同工况角度切入,分析不同工况下路径跟踪算法的原理、优缺点、应用及目前的研究进展,对未来的发展进行展望,旨在为今后的深入研究提供参考。Driverless technology aims to improve driving safety,accuracy and comfort.Path tracking is a basic component of the motion control module of autonomous vehicles,and its control algorithm directly affects the path tracking effect.Based on the preliminary results of the application of path tracking control algorithm,this paper analyzes the principles,advantages and disadvantages,applications and current research progress of the path tracking algorithm under different working conditions from the perspective of different working conditions at low speed and high speed,and provides an outlook on the future development,aiming to provide reference for future in-depth research.

关 键 词：无人驾驶汽车 运动控制 路径跟踪 横向控制 

分 类 号：U471.1[机械工程—车辆工程]