自动驾驶汽车规划跟踪和虚拟测试研究进展  

Research Progress in Autonomous Vehicle Planning,Tracking and Virtual Testing

作　　者：周大宝 刘成晔[1] 赵景波 黄赟 李明辉 ZHOU Dabao;LIU Chengye;ZHAO Jingbo;HUNAG Yun;LI Minghui(School of Automotive and Traffic Engineering,Jiangsu University of Technology,Changzhou 213001,China;School of Intelligent Manufacturing and Control Engineering,Shanghai Polytechnic University,Shanghai 201209,China)

机构地区：[1]江苏理工学院汽车与交通工程学院,江苏常州213001 [2]上海第二工业大学智能制造与控制工程学院,上海201209

出　　处：《常州工学院学报》2025年第1期37-44,共8页Journal of Changzhou Institute of Technology

摘　　要：路径规划和跟踪控制技术为自动驾驶汽车领域研究的重点和热点,对自动驾驶汽车进行测试成为推动自动驾驶汽车应用落地的关键环节,由于实车道路环境测试存在危险系数大、效率低和成本高等缺陷,因此虚拟测试在路径规划和跟踪控制算法研究中的应用变得至关重要。通过模拟真实交通环境,虚拟场景提供了一个高度可控且安全的实验平台,为算法的开发、验证和优化提供了便利。文章重点梳理了路径规划技术的发展和研究现状,涵盖了基于经典方法和启发式方法的路径规划策略。同时,对跟踪控制技术采用的几何运动控制、经典控制方法、现代控制方法和智能控制方法进行了分析,总结了虚拟测试的优势和必要性,对未来智能交通系统的发展进行展望。Path planning and tracking control technology is the focus and hot spot of research in the field of autonomous vehicles,and the testing of autonomous vehicles has become a key link to promote the application of autonomous vehicles.By simulating the real traffic environment,the virtual scene provides a highly controllable and safe experimental platform,which facilitates the development,verification and optimization of algorithms.This study focuses on the development and research status of path planning technology,covering path planning strategies based on classical methods and heuristic methods.At the same time,the geometric motion control,classical control methods,modern control methods and intelligent control methods used in tracking control technology are analyzed,the advantages and necessity of virtual testing are summarized,and the development of intelligent transportation systems in the future is prospected.

关 键 词：自动驾驶汽车 路径规划 跟踪控制 虚拟测试 

分 类 号：U463.6[机械工程—车辆工程]