中文摘要：

针对车道偏离自动校正控制中采用传统位置偏差控制方法路径跟踪精度不高以及实时性差等问题，提出了一种基于道路人工势场法的车辆路径跟踪方法，控制车辆能够实时保持沿着目标道路中心线行驶。该方法在车辆所处的环境道路上产生一个势场，该势场包含车辆与道路中心线的偏差信息及前方预瞄信息，对处在势场中的车辆具有阻碍其偏离车道中心线的势场力的作用。将势场产生的控制力加入车辆动力学模型中，实时控制车辆稳定地跟踪车道中心线。仿真及试验结果表明，所提方法比位置偏差法跟踪精度更高且跟踪误差随车辆速度变化波动范围小，具有较强的鲁棒性和实时性。

英文摘要：

Aimed at the low control accuracy of the position error based on path tracking as well as its poor real time performance in the automatic correction of lane departure,a novel path tracking con- trol method on the basis of road artificial potential was proposed. The vehicle can be kept running a- long the centerline of the road. An artificial potential was generated on the road the vehicle run on ac- cording to the error information between the vehicle and the centerline of the road in front of the vehi- cle, which had force effects on the vehicles involved in the potential. By adding the control force gener- ated by the road potential to the vehicle＇s dynamics,the vehicle was forced to steadily track the cen- terline of the lane in real time. Simulation and experimental results show good robustness and real time performance of the proposed tracking method, which has higher control accuracy and lower range of tracking error while the speed of the vehicle varies.