智能汽车横纵向控制研究综述  

Research on Transverse and Longitudinal Control of Autonomous Vehicle

作　　者：徐伟瑞 Xu Weirui(School of Mechatronics and Vehicle Engineering,Chongqing Jiaotong University,Chongqing 400074)

机构地区：[1]重庆交通大学机电与车辆工程学院,重庆400074

出　　处：《汽车文摘》2025年第1期1-7,共7页Automotive Digest

摘　　要：智能汽车作为汽车产业和全球智能化的关键一环,在整个智能化系统中扮演着至关重要的角色。为了探索智能汽车实现自动驾驶的关键技术,研究车辆的横向和纵向控制方法,利用车辆的运动学、动力学模型及轮胎模型,分析智能车辆的横向控制和纵向控制,采取解耦策略简化控制难度,确保车辆按照预定路径安全行驶。为确保车辆在运动时的稳定性,加强对车辆纵向控制的研究,以优化汽车速度管理。研究了车辆的耦合控制,以克服车辆耦合效应带来的问题,优化横向和纵向控制的精确度。总结了各种相关控制算法的优缺点,并提出了智能车辆横向和纵向控制的未来发展方向,包括:深化横向控制算法研究以提升安全性;优化纵向控制以确保运动稳定性;提升耦合控制精度以增强整体控制效果。As a key component of the current automotive industry and global intelligence,intelligent vehicles play a crucial role in the entire intelligent system.To explore the key technologies for achieving autonomous driving in intelligent vehicles,researches on the lateral and longitudinal control methods of vehicles have been conducted.By utilizing the vehicle’s kinematic,dynamic models,and tire models,the lateral and longitudinal control of intelligent vehicles is analyzed.A decoupling strategy is adopted to simplify control complexity,ensuring that the vehicle travels safely along the predetermined path.To guarantee the stability of the vehicle in motion,research on longitudinal control is strengthened to optimize the management of vehicle speed.The study of vehicle coupling control aims to overcome the problems caused by vehicle coupling effects,optimizing the precision of lateral and longitudinal control.The advantages and disadvantages of various related control algorithms are summarized,and future development directions for the lateral and longitudinal control of intelligent vehicles are proposed,including deepening the research on lateral control algorithms to enhance safety,optimizing longitudinal control to ensure motion stability,and improving the precision of coupling control to enhance overall control effectiveness.

关 键 词：智能汽车 车辆模型 横纵向控制 控制算法 

分 类 号：U461.6[机械工程—车辆工程]