重庆大学学报2026，Vol.49Issue(5)：60-77,18.DOI:10.11835/j.issn.1000-582X.2026.05.005
变速极限工况下分布式电动汽车稳定性纵横协调控制
Longitudinal-lateral coordinated stability control of distributed electric vehicles under variable speed limit conditions
摘要
Abstract
To overcome the limitations of conventional constant-speed control methods in extreme mountainous conditions,this paper proposes a variable-speed coordinated longitudinal-lateral control strategy based on the coupling characteristics of vehicle dynamics.The strategy adopts a hierarchical control structure.The upper layer develops a steady-state evaluation model to provide decision support for subsequent control layers.The middle layer primarily utilizes a two-level model predictive control(MPC)framework to coordinate potential conflicts among longitudinal four-wheel slip rates,lateral active front steering(AFS)and direct yaw control(DYC),and outputs the total driving torque and yaw moment.The lower layer employs a weighted least squares method to optimally distribute torque based on the vehicle's operating state.A simulation model is constructed using Simulink and CarSim to evaluate performance under various complex road conditions.Results demonstrate that the proposed strategy significantly improves the driving stability of distributed electric vehicles under variable speed extreme conditions.关键词
变速极限工况/分布式驱动/纵横协调控制/分层控制Key words
variable speed limit conditions/distributed drive/longitudinal-lateral coordinated control/hierarchical control分类
交通工程引用本文复制引用
赵石凤,王文杰,舒然,李礼,舒红宇..变速极限工况下分布式电动汽车稳定性纵横协调控制[J].重庆大学学报,2026,49(5):60-77,18.基金项目
国家自然科学基金资助项目(52372376) （52372376）
重庆市研究生科研创新项目(CYB240012).Supported by National Natural Science Foundation of China(52372376),and Graduate Research and Innovation Foundation of Chongqing(CYB240012). （CYB240012）
