起伏弯道中自动驾驶车辆的纵横向耦合稳定性控制

doi:10.16731/j.cnki.1671-3133.2026.06.010

现代制造工程 ›› 2026, Vol. 549 ›› Issue (6): 88-98.doi: 10.16731/j.cnki.1671-3133.2026.06.010

起伏弯道中自动驾驶车辆的纵横向耦合稳定性控制

郭帅君¹, 秦萍², 刘飞¹, 郑鹏程¹, 陈子墨¹

1 上海工程技术大学机械与汽车工程学院,上海 201620;
2 重庆市万州职业教育中心,重庆 404100

收稿日期:2025-06-02 出版日期:2026-06-18 发布日期:2026-07-02
作者简介:郭帅君,硕士研究生,主要研究方向为车辆系统动力学和智能驾驶算法。E-mail:945767110@qq.com

Longitudinal and lateral coupled stability control for autonomous vehicles in undulating curves

GUO Shuaijun¹, QIN Ping², LIU Fei¹, ZHENG Pengcheng¹, CHEN Zimo¹

1 School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science, Shanghai 201620,China;
2 Wanzhou Vocational Education Center of Chongqing,Chongqing 404100,China

Received:2025-06-02 Online:2026-06-18 Published:2026-07-02

摘要/Abstract

摘要： 针对自动驾驶车辆在起伏弯道中的纵横向耦合稳定性控制策略开展研究,基于模型预测控制(Model Predictive Control,MPC)和自抗扰控制(Active Disturbance Rejection Control,ADRC)设计了耦合控制器,建立了纵、横向车辆动力学模型,设计了基于自抗扰控制的纵向控制策略和基于模型预测控制的横向控制策略,提出了纵横向耦合控制策略,构建了硬件在环(Hardware In the Loop,HIL)测试平台进行有效性验证。HIL仿真测试结果表明,耦合控制器与传统控制器相比,最大横向误差从0.48 m减小到0.16 m,平均绝对误差和平均误差都相对减小。所设计的耦合控制器能够将起伏弯道中的最大跟踪误差降低到0.33 m,并相对降低平均绝对误差和平均误差,能够有效保证高速自动驾驶车辆行驶的安全性和稳定性,避免滑移失稳等危险工况的发生。

关键词: 自动驾驶车辆, 路径跟踪, 速度跟踪, 模型预测控制, 稳定性控制

Abstract: It investigates the integrated longitudinal and lateral stability control strategy for autonomous vehicles negotiating undulating curved roads. Based on Model Predictive Control (MPC) and Active Disturbance Rejection Control (ADRC), a coupled controller is designed. Longitudinal and lateral vehicle dynamics models are established. A longitudinal control strategy based on ADRC and a lateral control strategy based on MPC are devised. An integrated longitudinal and lateral coupling control strategy is proposed. A Hardware In the Loop (HIL) test platform is constructed for validation of the effectiveness. The results indicate that the coupled control reduce the maximum lateral error from 0.48 m to 0.16 m, and both the mean absolute error and the mean error are relatively reduced. The designed coupled controller can reduce the maximum tracking error in undulating curves to 0.33 m and relatively reduce the mean absolute error and the mean error, effectively ensuring the safety and stability of high-speed autonomous vehicles and preventing dangerous conditions such as sideslip instability.

Key words: autonomous vehicles, path tracking, speed tracking, Model Predictive Control (MPC), stability control

中图分类号:

U463.6

郭帅君, 秦萍, 刘飞, 郑鹏程, 陈子墨. 起伏弯道中自动驾驶车辆的纵横向耦合稳定性控制[J]. 现代制造工程, 2026, 549(6): 88-98.

GUO Shuaijun, QIN Ping, LIU Fei, ZHENG Pengcheng, CHEN Zimo. Longitudinal and lateral coupled stability control for autonomous vehicles in undulating curves[J]. Modern Manufacturing Engineering, 2026, 549(6): 88-98.

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起伏弯道中自动驾驶车辆的纵横向耦合稳定性控制

Longitudinal and lateral coupled stability control for autonomous vehicles in undulating curves

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