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白国星等:无人驾驶车辆路径跟踪控制研究现状 483· of the steering driver model using general predictive control tracking and anti-roll control of commercial vehicle based on method.Proc Inst Mech Eng Part C-J Eng Mech Eng Sci,2018, Pareto optimal equilibrium theory.Autom Eng,2019,41(6):654 232(24):4578 (李玉善,迟元欣,季学武,等.基于Pareto:最优均衡理论的商用 [27]Yu LL,Kong D C,Shao X Y,et al.A path planning and 车路径跟踪与抗侧倾协同控制研究.汽车工程,2019,41(6): navigation control system design for driverless electric bus.IEEE 654) 4cces,2018,6:53960 [41]Li S,Xu Y H,Chen J,et al.A study on vehicle lateral tracking [28]Guo H Y,Liu J,Cao D P,et al.Dual-envelop-oriented moving control based on arc-length preview.utom Eng,019,41(6):668 horizon path tracking control for fully automated vehicles. 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