chevroler263
10.16638/jki.1671-7988.2020.15.086
无人驾驶方程式赛车运动控制关键技术综述
闫丰雨，李刚，刘洪良，杨善卿
（辽宁工业大学汽车与交通工程学院，辽宁 锦州 121001）
摘 要：FSAC 中国大学生无人驾驶电动方程式汽车大赛是中国大学生方程式系列赛事中的一项比赛，该比赛旨在顺应无人驾驶发展趋势以及培养行业相关人才，无人驾驶方程式赛车包括总布置设计，环境感知，线控底盘以及运动控制等多种关键技术。而运动控制是无人驾驶赛车研究领域的核心技术之一，是其他部分实现功能的基础，主要包括横向控制、纵向控制以及横纵向协调控制。论文主要针对无人驾驶电动方程式赛车运动控制，对无人驾驶电动方程式赛车的横向控制、纵向控制以及横纵向协调控制三个方面进行总结与分析，指出以无人驾驶电动方程式赛车为载体，通过对车辆横向控制，纵向控制以及横纵向协调控制的研究，来提高无人驾驶汽车的运动控制的稳定性，加快无人驾驶汽车运动控制的研究速度，争取早日实现无人驾驶。
京承高速
关键词：无人驾驶；电动方程式；运动控制；横纵向协调控制
中图分类号：U463.61  文献标识码：A  文章编号：1671-7988(2020)15-263-02
现代新款车Overview of the key technology of unmanned formula car motion control
Yan Fengyu, Li Gang, Liu Hongliang, Yang Shanqing
奔驰电动汽车
( School of Automotive and Transportation Engineering, Liaoning University of Technology, Liaoning Jinzhou 121001 ) Abstract: The FSAC China University Student Driverless Formula E Car Competition is a competition in the China University Student Formula Series. The competition aims to adapt to the development trend of driverless driving and cultivate industry-related talents. The driverless formula car includes general layout design and environmental perception. , Wire-controlled chassis and motion control and other key technologies. And motion control is one of the core technologies in the field of driverless racing research. It is the basis for other parts to realize functions, mainly including horizontal control, vertical control, and horizontal and vertical coordinated control. The thesis mainly focuses on the control of the unmanned electric formula racing car, and summarizes and analyzes the horizontal control, longitudinal control and horizontal and vertical coordinated control of the unmanned electric formula car. It is pointed out that using the driverless el
发动机冷磨合ectric formula racing car as the carrier, through the study of vehicle lateral control, longitudinal control and horizontal and vertical coordinated control, the stability of the motion control of the driverless car is improved, and the research speed of the motion control of the driverless car is accelerated.
Keywords: Driverless; Electric formula; Motion control; Horizontal and vertical coordinated control
CLC NO.: U463.61  Document Code: A  Article ID: 1671-7988(2020)15-263-02
上海大众出租车叫车电话引言
中国大学生方程式汽车大赛，由中国汽车工程协会举办。随着2017年第一届中国大学生无人驾驶电动方程式汽车大
作者简介：闫丰雨（1995-），男，在读研究生，就读于辽宁工业大
学纯电动汽车控制与驱动控制专业。基金项目：辽宁省教育厅重大
科技平台项目（JP2017001）。