无人驾驶铰接转向车辆路径跟踪控制研究综述

路径跟踪是无人驾驶技术的重要组成部分，是实现铰接转向车辆准确平稳自主行驶的关键，对提高铰接转向车辆在农业、林业、矿山及建筑等行业的作业效率和安全性具有重要意义。车辆模型构建、控制算法设计和算法验证评估是路径跟踪控制研究的基础，围绕这3方面阐述了铰接转向车辆路径跟踪控制研究的进展。首先回顾了铰接转向车辆的几何学模型、运动学模型和动力学模型，并讨论了各类模型在路径跟踪控制研究中的适用场景及局限性；在此基础上，阐述了铰接转向车辆路径跟踪控制算法的研究现状，对比并总结了每种算法的优缺点及适用范围，并进一步归纳了算法的验证与评估手段；最后展望了铰接转向车辆路径跟踪技术未来的研究重点及方向：考虑车辆动力学因素及模型参数动态时变特性的车辆建模研究；融合各类算法适应性并结合智能算法的多工况自适应控制算法设计；标准化、流程化的高保真仿真场景开发及集成准确性、稳定性、安全性等多性能的评估方法研究。

Review on Path Tracking Control of Unmanned Articulated Steering Vehicles

The path tracking of unmanned articulated steering vehicles is the key to accurately and smoothly carrying out operational tasks, which can effectively improve the operational efficiency and safety of articulated steering vehicles in industries such as agriculture, forestry, mining, and construction. The research on path tracking control typically included three aspects: vehicle model construction, control algorithm design, and algorithm validation and evaluation, from which the research progress of path tracking control technology for articulated steering vehicles was systematically analyzed. Firstly, the geometric, kinematic, and dynamic models of articulated steering vehicles were reviewed, and then the applicable scenarios and limitations of these models in path tracking control research were discussed. Above that, the research status of path tracking algorithms for articulated steering vehicles was elaborated, and the advantages and disadvantages of each algorithm as well as its scope of application were summarized in comparison, with further generalization about the methods of validation and evaluation of the algorithms. The research focuses and directions of articulated steering vehicle path tracking technology were proposed as follows: the research of vehicle modeling considering vehicle dynamics factors and dynamic time-varying characteristics of model parameters, the design of multi-condition adaptive control algorithms incorporating the adaptation of different algorithms and combining the intelligent algorithms, the development of standardized and process-oriented high-fidelity simulation scenarios, and the research of evaluation methods for integrating multiple performances included accuracy, stability, and security. This review can serve as a valuable reference for further research on the path tracking strategies of articulated steering vehicles.