基于事件触发模型预测控制的分布式驱动汽车横纵向分层控制*

doi:10.16731/j.cnki.1671-3133.2026.02.010

现代制造工程 ›› 2026, Vol. 545 ›› Issue (2): 74-82.doi: 10.16731/j.cnki.1671-3133.2026.02.010

基于事件触发模型预测控制的分布式驱动汽车横纵向分层控制^*

李恒强¹, 许恩永², 陈义时³, 吴湘柠³, 熊斯凯¹, 李希明¹, 蒙艳玫¹

1 广西大学机械工程学院,南宁 530000;
2 东风柳州汽车有限公司,柳州 545000;
3 广西机械工业研究院有限公司,南宁 530000

收稿日期:2025-03-03 出版日期:2026-02-18 发布日期:2026-03-18
作者简介:李恒强,硕士研究生,主要研究方向为车辆底盘运动控制。E-mail:2234043638@qq.com
基金资助:
^*国家自然科学基金项目(52365001);广西科技重大专项项目(桂科AA23062040,桂科AA23023011);广西重点研发项目(桂科AB22080098)

Event-triggered model predictive control-based hierarchical lateral-longitudinal control for distributed drive electric vehicles

LI Hengqiang¹, XU Enyong², CHEN Yishi³, WU Xiangning³, XIONG Sikai¹, LI Ximing¹, MENG Yanmei¹

1 School of Mechanical Engineering, Guangxi University, Nanning 530000, China;
2 Dongfeng Liuzhou Motor Co., Ltd., Liuzhou 545000, China;
3 Guangxi Research Institute of Mechanical Industry, Nanning 530000, China

Received:2025-03-03 Online:2026-02-18 Published:2026-03-18

摘要/Abstract

摘要： 汽车在野外复杂环境行驶时面临着工况复杂、跟踪精度低和稳定性控制难等难题。为了提高分布式驱动汽车在野外复杂环境行驶时的跟踪精度和稳定性,提出了一种基于事件触发模型预测控制(Event-Triggered Model Predictive Control,ET-MPC)的分布式驱动汽车横纵向分层控制方法。提出了分层集中式控制架构,上层控制器为基于三自由度的事件触发模型预测控制器和线性二次型调节器(Linear Quadratic Regulator,LQR)速度控制器;下层转矩分配层通过构建最小轮胎附着利用率(Tire Attachment Utilization,TAU)进行转矩分配,以提升分布式驱动汽车的稳定性。最后,基于CarSim软件与Matlab/Simulink软件的联合仿真平台验证了所提方法的有效性,结果表明,在不同车速和不同路面附着系数条件下,基于事件触发模型预测控制的分布式驱动汽车横纵向分层控制具有良好的跟踪性能及稳定性。

关键词: 分布式驱动汽车, 事件触发, 模型预测控制, 横纵向, 转矩分配

Abstract: Autonomous vehicles operating in complex outdoor off-road environments face challenges such as harsh operating conditions,low tracking accuracy,and difficulty in stability control. To enhance the tracking accuracy and stability of distributed drive electric vehicles in complex off-road environments,a distributed longitudinal and lateral control method based on Event-Triggered Model Predictive Control (ET-MPC) was proposed. First,a hierarchical centralized control architecture was proposed,where the upper-level controller consists of a three-degree-of-freedom ET-MPC and a longitudinal speed LQR controller. Second,the lower-level torque distribution layer allocated torque by constructing a minimum Tire Attachment Utilization (TAU) to enhance vehicle stability. Finally,the effectiveness of the proposed algorithm was verified through co-simulation on the CarSim software and Matlab/Simulink software platform. The results show that the algorithm exhibits good tracking performance and stability under different vehicle speeds and road adhesion conditions.

Key words: distributed drive vehicle, event-triggered, Model Predictive Control (MPC), lateral and longitudinal, torque allocation

中图分类号:

TP273
U463.6

李恒强, 许恩永, 陈义时, 吴湘柠, 熊斯凯, 李希明, 蒙艳玫. 基于事件触发模型预测控制的分布式驱动汽车横纵向分层控制^*[J]. 现代制造工程, 2026, 545(2): 74-82.

LI Hengqiang, XU Enyong, CHEN Yishi, WU Xiangning, XIONG Sikai, LI Ximing, MENG Yanmei. Event-triggered model predictive control-based hierarchical lateral-longitudinal control for distributed drive electric vehicles[J]. Modern Manufacturing Engineering, 2026, 545(2): 74-82.

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基于事件触发模型预测控制的分布式驱动汽车横纵向分层控制^*

Event-triggered model predictive control-based hierarchical lateral-longitudinal control for distributed drive electric vehicles

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