考虑延时的自动驾驶横向控制综述与分析

马小龙; 高铭; 熊国东

doi:10.13890/j.issn.1000-128X.2024.04.017

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考虑延时的自动驾驶横向控制综述与分析

电力牵引与控制 | 更新时间：2024-09-12

- 考虑延时的自动驾驶横向控制综述与分析
- Review and analysis of lateral control in autonomous driving with consideration of delay
- 机车电传动 2024年第4期页码：139-147
- 作者机构：
  
  1.国家能源集团陕西神延煤炭有限责任公司，陕西榆林 719000
  2.湖南大学机械与运载工程学院，湖南长沙 410082
- 作者简介：
  
  高　铭，男，博士，副研究员，主要从事智能网联汽车环境感知、轨迹预测研究；E-mail: gaoming@hnu.edu.cn
- 基金信息：
  
  国家自然科学基金青年科学基金项目(52102461)
- DOI：10.13890/j.issn.1000-128X.2024.04.017
  中图分类号： U284.48;U268.4
- 纸质出版日期：2024-07-10，
  
  收稿日期：2024-04-24，
  
  修回日期：2024-07-01，
- 稿件说明：
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马小龙, 高铭, 熊国东. 考虑延时的自动驾驶横向控制综述与分析[J]. 机车电传动, 2024(4): 139-147.

MA Xiaolong, GAO Ming, XIONG Guodong. Review and analysis of lateral control in autonomous driving with consideration of delay[J]. Electric drive for locomotives,2024(4): 139-147.
马小龙, 高铭, 熊国东. 考虑延时的自动驾驶横向控制综述与分析[J]. 机车电传动, 2024(4): 139-147. DOI：10.13890/j.issn.1000-128X.2024.04.017.

MA Xiaolong, GAO Ming, XIONG Guodong. Review and analysis of lateral control in autonomous driving with consideration of delay[J]. Electric drive for locomotives,2024(4): 139-147. DOI：10.13890/j.issn.1000-128X.2024.04.017.

摘要

随着科技的进步和创新，自动驾驶技术取得了显著的发展。在自动驾驶系统中，车辆的横向控制在实现精确路径跟踪和稳定行驶中起着关键作用，由于传感器数据传输、控制器数据处理和执行器转向响应等因素的存在，延时问题在车辆自动驾驶控制系统中不可避免，然而延时会恶化横向控制的性能和稳定性，因此考虑延时的横向控制方法备受关注。文章旨在对考虑延时的横向控制方法进行总结和分类，简要介绍了车辆模型和横向控制方法，分析了延时产生的原因和延时模型，并从基于延时预测补偿、延时状态空间增广和延时扰动鲁棒控制等3个方面对考虑延时的横向控制方法进行介绍。

Abstract

With the progress and innovation in science and technology

automatic driving technology has made remarkable advancements. In automatic driving systems

the lateral control of vehicles plays a key role in realizing precise path tracking and ensuring stable driving. However

due to various issues including the transmission of sensor data

processing of controller data

and steering response from actuators

delays in control systems for automatic driving are unavoidable. These delays can deteriorate the lateral control performance and stability. Consequently

lateral control methods that take these delays into account have attracted a lot of attention. This paper summarizes and classifies these methods

and briefly introduces vehicle models and the lateral control techniques. Additionally

it analyzes the causes of delays and presents a delay model. The discussion focuses on three aspects of lateral control methods that address delays: delay-based predictive compensation

delay state-space augmentation

and robust control of delay disturbances.

关键词

自动驾驶横向控制预测补偿状态增广鲁棒控制延时

Keywords

autonomous drivinglateral controlpredictive compensationstate-space augmentationrobust controldelay

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