重庆大学学报2026，Vol.49Issue(5)：43-59,17.DOI:10.11835/j.issn.1000-582X.2024.224
基于主动前轮转向与直接横摆力矩控制的自适应巡航控制
Research on adaptive cruise control based on active front steering and direct yaw-moment control
摘要
Abstract
For four-wheel independent drive electric vehicles(4WIDEVs),an adaptive cruise control system integrating active front steering(AFS)and direct yaw-moment control(DYC)is developed.The system employs a dual-layer control architecture:the upper-level controller employs model predictive control(MPC)to track the vehicle's desired longitudinal force and additional yaw moment,while the lower-level controller utilizes the redundancy of AFS and DYC to optimize the front wheel steering angles and torque distribution across all four wheels.This integrated approach enhances both vehicle stability and energy efficiency.Simulation results indicate that,compared to conventional average torque distribution strategies,the proposed control strategy achieves up to 13.23％energy savings while maintaining stability.The study offers insights into enhancing the overall performance of 4WIDEVs.关键词
自适应巡航控制/主动前轮转向/直接横摆力矩控制/四轮独立驱动电动汽车/模型预测控制Key words
adaptive cruise control/active front steering/direct yaw-moment control/four-wheel independent drive electric vehicle/model predictive control分类
交通工程引用本文复制引用
叶子墨,姚初阳,傅春耘..基于主动前轮转向与直接横摆力矩控制的自适应巡航控制[J].重庆大学学报,2026,49(5):43-59,17.基金项目
重庆市自然科学基金创新发展联合基金资助项目(CSTB2023NSCQ-LZX0169).Supported by Natural Science Foundation Innovation and Development Joint Fund Project of Chongqing(CSTB2023NSCQ-LZX0169). （CSTB2023NSCQ-LZX0169）
