  The ground states of the two-dimensional repulsive Hubbard model are studied
within the unrestricted Hartree-Fock (UHF) theory. Magnetic and charge
properties are determined by systematic, large-scale, exact numerical
calculations, and quantified as a function of electron doping $h$. In the
solution of the self-consistent UHF equations, multiple initial configurations
and simulated annealing are used to facilitate convergence to the global
minimum. New approaches are employed to minimize finite-size effects in order
to reach the thermodynamic limit. At low to moderate interacting strengths and
low doping, the UHF ground state is a linear spin-density wave (l-SDW), with
antiferromagnetic order and a modulating wave. The wavelength of the modulating
wave is $2/h$. Corresponding charge order exists but is substantially weaker
than the spin order, hence holes are mobile. As the interaction is increased,
the l-SDW states evolves into several different phases, with the holes
eventually becoming localized. A simple pairing model is presented with
analytic calculations for low interaction strength and small doping, to help
understand the numerical results and provide a physical picture for the
properties of the SDW ground state. By comparison with recent many-body
calculations, it is shown that, for intermediate interactions, the UHF solution
provides a good description of the magnetic correlations in the true ground
state of the Hubbard model.
