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

doi:10.3901/JME.260448

Abstract

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

CLC Number:

U461

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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