自動運転車とコネクテッド自動運転車における制御技術と応用の系統的サーベイ
A Systematic Survey of Control Techniques and Applications in Connected and Automated Vehicles
自動運転車(AV)とコネクテッド自動運転車(CAV)の制御技術について、車両状態推定や軌道追従制御から協調制御までを体系的にまとめたサーベイ論文。
著者: Wei Liu, Min Hua, Zhiyun Deng, Zonglin Meng, Yanjun Huang, Chuan Hu, Shunhui Song, Letian Gao, Changsheng Liu, Bin Shuai, Amir Khajepour, Lu Xiong, Xin Xia
分類: cs.RO
原文アブストラクト
Vehicle control is one of the most critical challenges in autonomous vehicles (AVs) and connected and automated vehicles (CAVs), and it is paramount in vehicle safety, passenger comfort, transportation efficiency, and energy saving. This survey attempts to provide a comprehensive and thorough overview of the current state of vehicle control technology, focusing on the evolution from vehicle state estimation and trajectory tracking control in AVs at the microscopic level to collaborative control in CAVs at the macroscopic level. First, this review starts with vehicle key state estimation, specifically vehicle sideslip angle, which is the most pivotal state for vehicle trajectory control, to discuss representative approaches. Then, we present symbolic vehicle trajectory tracking control approaches for AVs. On top of that, we further review the collaborative control frameworks for CAVs and corresponding applications. Finally, this survey concludes with a discussion of future research directions and the challenges. This survey aims to provide a contextualized and in-depth look at state of the art in vehicle control for AVs and CAVs, identifying critical areas of focus and pointing out the potential areas for further exploration.
