科技创新与应用2026，Vol.16Issue(12)：172-175,4.DOI:10.19981/j.CN23-1581/G3.2026.12.043
V2X环境下分布式驱动车辆轨迹跟踪与稳定性的分层协同控制
摘要
Abstract
To address the trajectory tracking and stability coordination control of V2X-based distributed drive vehicles,this paper proposes a hierarchical control architecture integrating Model Predictive Control(MPC),Sliding Mode Observer(SMO),and reduced-order Dynamic Output Feedback(RDOF).First,the MPC trajectory planning layer generates desired trajectories with variable safety spacing based on V2X-acquired preceding vehicle states and road information.Second,the SMO estimates the sideslip angle and lumped disturbances in real-time,while an adaptive sliding mode controller compensates for steering deviations.Finally,a reduced-order RDOF controller optimized via LMI adjusts the yaw moment to suppress yaw-roll coupling instability.Experimental results demonstrate that the proposed method reduces the yaw rate error below 0.12 rad/s,stabilizes the roll angle within±1.2°,and achieves a single-step solving time of less than 5 ms,fulfilling real-time requirements.This approach effectively resolves conflicts between trajectory tracking and stability control,enhancing robustness and safety in multi-vehicle cooperative scenarios.关键词
V2X/分布式驱动车辆/模型预测控制(MPC)/滑模观测器/动态输出反馈/横摆—侧倾稳定性Key words
V2X/distributed drive vehicle/Model Predictive Control(MPC)/Sliding Mode Observer(SMO)/Dynamic Output Feedback(DOF)/yaw-roll stability分类
交通工程引用本文复制引用
崔洪艳..V2X环境下分布式驱动车辆轨迹跟踪与稳定性的分层协同控制[J].科技创新与应用,2026,16(12):172-175,4.基金项目
青岛黄海学院横向项目课题(2025370204000557) （2025370204000557）
