Review and analysis of lateral control in autonomous driving with consideration of delay
With the progress and innovation in science and technology,automatic driving technology has made remarkable advance-ments.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 perfor-mance 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 analyz-es 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.
万方数据
维普
