With the development of new generation of artificial intelligence,unmanned driving has become a strategic research hotspot at home and abroad.With nonlinear dynamic characteristics and parameter uncertainty,unmanned ground vehicle(UGV)is a complex multi-input and multi-output underactuated system.Simultaneously,the driving process is usually accompanied with lots of external disturbances and uncertainties.Therefore,the robust,high-precision and fast response motion control strategy is the key to the implementation of unmanned driving technology.By taking the motion control as the core,this paper gives a brief introduction of drive-by-wire technology systematically discusses the research status and progress of vehicle model,longitudinal control,lateral control and coupled control.It aims to provide some insights for researchers from the perspectives of theoretical algorithm and engineering practice.
关键词
无人驾驶/车辆模型/纵向控制/横向控制/耦合控制
Key words
unmanned driving/vehicle model/longitudinal control/lateral control/coupled control
维普
万方数据