title: Ð£ÑÑÐ¾Ð¹ÑÐ¸Ð²Ð¾ÑÑÑ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½ÑÑ Ð°Ð²ÑÐ¾Ð¼Ð¾Ð±Ð¸Ð»ÐµÐ¹ Ð² Ð³Ð¾ÑÐ¾Ð´ÑÐºÐ¸Ñ Ð´Ð¾ÑÐ¾Ð¶Ð½ÑÑ ÑÑÐ»Ð¾Ð²Ð¸ÑÑ
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: Sustainability of driven vehicles in urban road conditions
Creators: name: ÐÑ ÐÐ¾
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2024
Subjects: ÐÐ²ÑÐ¾Ð¼Ð¾Ð±Ð¸Ð»Ð¸
ÐÐ¾ÑÐ¾Ð´ÑÐºÐ¾Ð¹ ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑ
ÑÑÑÐ¾Ð¹ÑÐ¸Ð²Ð¾ÑÑÑ
Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½ÑÐ¹ Ð°Ð²ÑÐ¾Ð¼Ð¾Ð±Ð¸Ð»Ñ
Ð¿Ð¾Ð¿ÐµÑÐµÑÐ½Ð¾Ðµ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ
Ð¿ÑÐ¾Ð´Ð¾Ð»ÑÐ½Ð¾Ðµ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ
Ð¾ÑÑÐ»ÐµÐ¶Ð¸Ð²Ð°Ð½Ð¸Ðµ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ð¸
stability
unmanned vehicle
lateral control
longitudinal control
trajectory tracking

description: Ð Ð´Ð°Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÐµ ÑÐ½Ð°ÑÐ°Ð»Ð° Ð¸Ð·Ð»Ð¾Ð¶ÐµÐ½Ð¾ ÑÐµÐºÑÑÐµÐµ ÑÐ¾ÑÑÐ¾ÑÐ½Ð¸Ðµ ÑÐ°Ð·Ð²Ð¸ÑÐ¸Ñ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½ÑÑ Ð°Ð²ÑÐ¾Ð¼Ð¾Ð±Ð¸Ð»ÐµÐ¹, Ð° ÑÐ°ÐºÐ¶Ðµ ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ñ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°ÑÐµÐ»ÑÑÐºÐ¸Ðµ Ð´Ð¾ÑÑÐ¸Ð¶ÐµÐ½Ð¸Ñ Ð² ÑÑÐ¾Ð¹ Ð¾Ð±Ð»Ð°ÑÑÐ¸ Ð² ÑÑÐ´Ðµ ÑÑÑÐ°Ð½. ÐÐ°Ð»ÐµÐµ Ð¿Ð¾Ð´ÑÐ¾Ð±Ð½Ð¾ Ð¾Ð±ÑÑÐ¶Ð´Ð°ÑÑÑÑ ÑÐ¸ÑÑÐµÐ¼Ñ ÐºÐ¾Ð½ÑÑÐ¾Ð»Ñ ÑÑÑÐ¾Ð¹ÑÐ¸Ð²Ð¾ÑÑÐ¸ ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑÐ½ÑÑ ÑÑÐµÐ´ÑÑÐ², Ð½Ð°ÑÐ¸Ð½Ð°Ñ Ñ Ð±Ð°Ð·Ð¾Ð²Ð¾Ð¹ ÑÐµÐ¾ÑÐ¸Ð¸ Ð¸ Ð·Ð°ÐºÐ°Ð½ÑÐ¸Ð²Ð°Ñ ÐºÐ¾Ð½ÐºÑÐµÑÐ½Ð¾Ð¹ ÑÐµÐ°Ð»Ð¸Ð·Ð°ÑÐ¸ÐµÐ¹, Ñ Ð´ÐµÑÐ°Ð»ÑÐ½ÑÐ¼ Ð¾Ð¿Ð¸ÑÐ°Ð½Ð¸ÐµÐ¼ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ñ ÐºÐ¸Ð½ÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¸Ñ Ð¸ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¸Ñ Ð¼Ð¾Ð´ÐµÐ»ÐµÐ¹, Ð° ÑÐ°ÐºÐ¶Ðµ Ð¿ÐµÑÐµÐ´Ð¾Ð²ÑÑ ÑÐµÑÐ½Ð¾Ð»Ð¾Ð³Ð¸Ð¹ ÑÐ¾Ð²ÑÐµÐ¼ÐµÐ½Ð½ÑÑ ÑÐ¸ÑÑÐµÐ¼ ÐºÐ¾Ð½ÑÑÐ¾Ð»Ñ ÑÑÑÐ¾Ð¹ÑÐ¸Ð²Ð¾ÑÑÐ¸ ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑÐ½ÑÑ ÑÑÐµÐ´ÑÑÐ². ÐÐ°ÑÐµÐ¼ ÑÐ»ÐµÐ´ÑÐµÑ Ð¾ÑÐ½Ð¾Ð²Ð½Ð¾Ðµ ÑÐ¾Ð´ÐµÑÐ¶Ð°Ð½Ð¸Ðµ Ð´Ð°Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ: ÐÐ¾Ð´ÑÐ¾Ð±Ð½Ð¾ ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ñ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÐµ Ð¼ÐµÑÐ¾Ð´Ñ Ð¿Ð¾Ð¿ÐµÑÐµÑÐ½Ð¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½ÑÐ¼Ð¸ Ð°Ð²ÑÐ¾Ð¼Ð¾Ð±Ð¸Ð»ÑÐ¼Ð¸, Ð²ÐºÐ»ÑÑÐ°Ñ Ð½ÐµÑÐµÑÐºÐ¾Ðµ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ, ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ Ð½Ð° Ð¾ÑÐ½Ð¾Ð²Ðµ Ð½ÐµÐ¹ÑÐ¾Ð½Ð½Ð¾Ð¹ ÑÐµÑÐ¸ PID Ð¸ Ð¼Ð¾Ð´ÐµÐ»ÑÐ½Ð¾-Ð¿ÑÐ¾Ð³Ð½Ð¾Ð·Ð¸ÑÑÑÑÐµÐµ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ. Ð­ÑÐ¸ Ð¼ÐµÑÐ¾Ð´Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð±ÑÐ»Ð¸ Ð¿ÑÐ¾Ð²ÐµÑÐµÐ½Ñ Ð½Ð° Ð¸Ñ ÑÑÑÐµÐºÑÐ¸Ð²Ð½Ð¾ÑÑÑ Ð¸ ÑÑÑÐ¾Ð¹ÑÐ¸Ð²Ð¾ÑÑÑ Ð² ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÑ ÑÑÐ»Ð¾Ð²Ð¸ÑÑ Ð²Ð¾Ð¶Ð´ÐµÐ½Ð¸Ñ Ñ Ð¿Ð¾Ð¼Ð¾ÑÑÑ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð¸ ÑÐ¸Ð¼ÑÐ»ÑÑÐ¸Ð¸. ÐÐ¾Ð´ÑÐ¾Ð±Ð½Ð¾ ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ñ ÐºÐ¾Ð¼Ð¿Ð»ÐµÐºÑÐ½ÑÐµ ÑÐµÑÐ½Ð¾Ð»Ð¾Ð³Ð¸Ð¸ Ð¿Ð¾Ð¿ÐµÑÐµÑÐ½Ð¾Ð³Ð¾ Ð¸ Ð¿ÑÐ¾Ð´Ð¾Ð»ÑÐ½Ð¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½ÑÐ¼Ð¸ Ð°Ð²ÑÐ¾Ð¼Ð¾Ð±Ð¸Ð»ÑÐ¼Ð¸ Ð² Ð³Ð¾ÑÐ¾Ð´ÑÐºÐ¸Ñ ÑÑÐ»Ð¾Ð²Ð¸ÑÑ, Ð²ÐºÐ»ÑÑÐ°Ñ Ð¿ÑÐ¾ÐµÐºÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ, Ð¿ÑÐ¾ÐµÐºÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ ÑÐºÐ¾Ð»ÑÐ·ÑÑÐµÐ³Ð¾ ÑÐµÐ¶Ð¸Ð¼Ð° ÐºÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑÐ°, ÐºÐ¾Ð¼Ð¿Ð»ÐµÐºÑÐ½ÑÐµ ÑÑÑÐ°ÑÐµÐ³Ð¸Ð¸ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð¸ Ð¸Ñ Ð²ÐµÑÐ¸ÑÐ¸ÐºÐ°ÑÐ¸Ñ Ñ Ð¿Ð¾Ð¼Ð¾ÑÑÑ ÑÐ¸Ð¼ÑÐ»ÑÑÐ¸Ð¸. Ð¡ Ð¿Ð¾Ð¼Ð¾ÑÑÑ ÐºÐ¾Ð¼Ð¿Ð»ÐµÐºÑÐ½Ð¾Ð³Ð¾ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸Ñ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÑ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð¾Ð±ÐµÑÐ¿ÐµÑÐ¸Ð²Ð°ÐµÑÑÑ Ð±ÐµÐ·Ð¾Ð¿Ð°ÑÐ½Ð¾ÑÑÑ Ð¸ ÑÑÑÐ¾Ð¹ÑÐ¸Ð²Ð¾ÑÑÑ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½ÑÑ Ð°Ð²ÑÐ¾Ð¼Ð¾Ð±Ð¸Ð»ÐµÐ¹ Ð² ÑÐ»Ð¾Ð¶Ð½ÑÑ ÑÑÐ»Ð¾Ð²Ð¸ÑÑ Ð²Ð¾Ð¶Ð´ÐµÐ½Ð¸Ñ.
description: This work first presents the current state of development of unmanned vehicles and reviews research progress in this field in several countries. It then delves into vehicle stability control systems, from basic theory to specific implementation, with a detailed description of the construction of kinematic and dynamic models, as well as advanced technologies in modern vehicle stability control systems. The main content of this work is as follows: Various methods of lateral control for unmanned vehicles are examined in detail, including fuzzy control, neural network PID control, and model predictive control. These control methods have been tested for their effectiveness and stability under various driving conditions through modeling and simulation. Comprehensive technologies for lateral and longitudinal control of unmanned vehicles in urban conditions are examined in detail, including control system design, sliding mode controller design, comprehensive control strategies, and their verification through simulation. By comprehensively utilizing various control algorithms, the safety and stability of unmanned vehicles in complex driving conditions are ensured.