面向网络不可靠的智能汽车纵侧向运动控制研究综述

doi:10.3901/JME.260448

机械工程学报 ›› 2026, Vol. 62 ›› Issue (8): 298-316.doi: 10.3901/JME.260448

• 特邀专辑：汽车线控底盘 • 上一篇下一篇

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面向网络不可靠的智能汽车纵侧向运动控制研究综述

郭烈¹, 关龙新¹, 葛平淑², 吴晓建³

1. 大连理工大学机械工程学院大连 116024;
2. 大连民族大学机电工程学院大连 116600;
3. 南昌大学先进制造学院南昌 330031

收稿日期:2025-10-11 修回日期:2025-12-26 出版日期:2026-04-20 发布日期:2026-06-12
作者简介:郭烈,男,1978年出生,博士,副教授,博士研究生导师。主要研究方向为车辆动力学及控制、人机协同控制、智能汽车网络安全控制、人机信任及接管安全。E-mail:guo_lie@dlut.edu.cn;关龙新,男,1997年出生,博士研究生。主要研究方向为车辆动力学及控制、智能汽车网络安全控制。E-mail:lguan0555@mail.dlut.edu.cn;葛平淑,女,1983年出生,博士,教授,博士后,硕士研究生导师。主要研究方向为车辆动力学及控制、智能驾驶。E-mail:gps@dlnu.edu.cn;吴晓建,男,1985年出生,博士,副教授,博士后,硕士研究生导师。主要研究方向为车辆动力学及控制、智能驾驶。E-mail:saintwu520@163.com
基金资助:
国家自然科学基金(52372409,52175078,52262054);辽宁省自然科学基金(2024-MS-018)资助项目。

Review on Longitudinal-lateral Motion Control of Intelligent Vehicles with Network Unreliability

GUO Lie¹, GUAN Longxin¹, GE Pingshu², WU Xiaojian³

1. School of Mechanical Engineering, Dalian University of Technology, Dalian 116024;
2. College of Mechanical and Electronic Engineering, Dalian Minzu University, Dalian 116600;
3. School of Advanced Manufacturing, Nanchang University, Nanchang 330031

Received:2025-10-11 Revised:2025-12-26 Online:2026-04-20 Published:2026-06-12

摘要/Abstract

摘要： 配备有各种车载通信网络的智能汽车纵侧向运动控制系统本质上是一类网络化控制系统(Networked control systems,NCSs)。在网络技术迅速发展以及车辆行驶环境愈加复杂的背景下，智能汽车纵侧向运动控制系统面临系统强耦合非线性、网络诱导时滞、数据包丢失、网络通信拥塞及恶意攻击等问题，这势必会导致系统稳定性下降，控制性能恶化。因此，如何构建智能汽车非线性动力学系统模型、设计网络安全通信协议以及开展网络安全控制策略研究是当前智能汽车面向网络不可靠下进行安全稳定控制的关键。鉴于此，围绕“智能汽车的纵侧向动力学建模”，“智能汽车的纵侧向控制方法”，“智能汽车的时滞及事件触发控制”以及“智能汽车的网络安全控制”这四个方面总结现有方法的不足并对未来的研究方向进行展望。分析表明，综合考虑车辆动力学固有非线性特性及网络风险随机因素构建具有完备非线性特性的智能汽车纵侧向非线性动力学模型是进行纵侧向运动系统性能分析和控制器设计的关键基础；替代传统的纵侧向解耦控制策略，发展全面考虑动力学耦合、网络时滞及通信拥塞影响的纵侧向耦合控制器以及发展面向网络恶意攻击下的纵侧向安全控制策略是未来智能汽车运动控制的主要研究方向。

关键词: 智能汽车, 网络化控制系统, 网络不可靠, 非线性动力学, 纵侧向安全控制策略

Abstract: The longitudinal-lateral motion control systems for intelligent vehicles equipped with various in-vehicle communication networks are essentially a class of networked control systems(NCSs). With the rapid development of network technology and the increasingly complex vehicle driving environment, the longitudinal-lateral motion control system of intelligent vehicles faces some problems such as strong coupling nonlinearity of the system, network-induced delay, data packet loss, network communication congestion, and malicious attacks, which inevitably lead to a decline in the stability of the system and a deterioration of the control performance. Therefore, how to construct a nonlinear dynamical system model for intelligent vehicles, design network security communication protocols, and develop research on network security control strategies are the keys to the safe and stable control of intelligent vehicles under unreliable networks at present. In view of this, the shortcomings of the existing methods are summarized and the future research directions are prospected by focusing on the four aspects of “longitudinal-lateral dynamics modeling of intelligent vehicles”, “longitudinal-lateral control methods of intelligent vehicles”, “delay and event-triggered control of intelligent vehicles”, and “cyber security control of intelligent vehicles”. The analysis shows that constructing a longitudinal-lateral nonlinear dynamics model of intelligent vehicles with complete nonlinear characteristics by comprehensively considering the inherent nonlinear characteristics of vehicle dynamics and the random network risk is the key foundation for longitudinal-lateral motion system performance analysis and controller design; replacing the traditional longitudinal-lateral decoupling control strategy and developing a longitudinal-lateral coupling controller that comprehensively considers the dynamics coupling impacts, network delay, and communication congestion; and developing a longitudinal-lateral security control strategy under network attacks are the main research directions for future motion control of intelligent vehicles.

Key words: intelligent vehicles, networked control systems, network unreliability, nonlinear dynamics, longitudinal-lateral safety control strategy

中图分类号:

U461

郭烈, 关龙新, 葛平淑, 吴晓建. 面向网络不可靠的智能汽车纵侧向运动控制研究综述[J]. 机械工程学报, 2026, 62(8): 298-316.

GUO Lie, GUAN Longxin, GE Pingshu, WU Xiaojian. Review on Longitudinal-lateral Motion Control of Intelligent Vehicles with Network Unreliability[J]. Journal of Mechanical Engineering, 2026, 62(8): 298-316.

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面向网络不可靠的智能汽车纵侧向运动控制研究综述

Review on Longitudinal-lateral Motion Control of Intelligent Vehicles with Network Unreliability

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