现代制造工程Issue(2)：74-82,110,10.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
Event-triggered model predictive control-based hierarchical lateral-longitudinal control for distributed drive electric vehicles
摘要
Abstract
Autonomous vehicles operating in complex outdoor off-road environments face challenges such as harsh operating condi-tions,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 Mat-lab/Simulink software platform.The results show that the algorithm exhibits good tracking performance and stability under differ-ent vehicle speeds and road adhesion conditions.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Key words
distributed drive vehicle/event-triggered/Model Predictive Control(MPC)/lateral and longitudinal/torque allocation分类
信息技术与安全科学引用本文复制引用
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,(2):74-82,110,10.基金项目
国家自然科学基金项目(52365001) （52365001）
广西科技重大专项项目(桂科AA23062040,桂科AA23023011) （桂科AA23062040,桂科AA23023011）
广西重点研发项目(桂科AB22080098) （桂科AB22080098）
