重庆理工大学学报2026，Vol.40Issue(11)：1-8,8.DOI:10.3969/j.issn.1674-8425(z).2026.06.001
分布式四轮驱动汽车轨迹跟踪与横向稳定性协调控制策略
Coordinated control strategy for trajectory tracking and lateral stability of distributed four-wheel drive vehicles
摘要
Abstract
Distributed four-wheel drive vehicles at high speeds are prone to losing stability on low-adhesion roads.To address the issue,this paper develops a control strategy integrating path tracking and lateral stability coordination.The trajectory tracking part builds a three-degree-of-freedom vehicle dynamics model and combines MPC to achieve the optimal tracking of the front wheel angle.The stability part designs a hierarchical control strategy.The upper layer employs sliding mode control to generate the required additional yaw moment.The lower layer designs a torque distribution optimization strategy targeting tire adhesion utilization rate based on weighted least squares(WLS).Finally,two road conditions with different adhesion coefficients at a speed of 85 km/h are designed using Carsim and Simulink software.Joint simulations are carried out for verification.Results show when the reference trajectory is designed as a double lane change,the stability control significantly improves the trajectory tracking accuracy and lateral stability of distributed drive vehicles in extreme conditions compared with the control model without stability control.The improvement is even more pronounced when vehicles are driving at relatively high speeds on low-adhesion roads.关键词
分布式驱动/模型预测控制/附加横摆力矩/加权最小二乘法/横向稳定性Key words
distributed drive/model predictive control/additional yaw moment/weighted least squares/lateral stability分类
交通工程引用本文复制引用
陈哲明,郑佳浩,刘国栋,刘林欣..分布式四轮驱动汽车轨迹跟踪与横向稳定性协调控制策略[J].重庆理工大学学报,2026,40(11):1-8,8.基金项目
国家自然科学基金面上项目(52472400) （52472400）
重庆市中小学创新人才培养工程项目(CY250903,CY250904,CY250905) （CY250903,CY250904,CY250905）
重庆市雏鹰计划研究项目(2024CYJHCZ002) （2024CYJHCZ002）
