不確定影響下智能車輛縱向干擾估計與運動控制

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主題詞：智能車輛縱向運動控制外部干擾估計不確定影響模型預(yù)測控制中圖分類號：U471.15 文獻標(biāo)志碼：A DOI： 10.19620/j.cnki.1000-3703.20241068

Longitudinal Disturbance Estimation and Motion Control of Intelligent Vehicles under Uncertain Influences

JingWei'，Zhao Wenqiang'，Wei Hongqian'，Lai Chenguang？，Zhang Youtong12 （1.School of MechanicalandVehicular Engineering，Beijing Instituteof Technology，Beijing1Oo081;2.YangtzeDelta RegionAcademyBeijing InstituteofTechnology，Jiaxing 314Ooo;3.International CooperationJointLaboratoryof IntellgentManufacturingand ControlofKeyComponentsofEnergy-SavingandNewEnergy Vehicles，Ministryof Education， Chongqing University of Technology， Chongqing ）

【Abstract】To mitigate the interferenceof external disturbancesand environmentaluncertaintiesand improve vehicle speedtrackingacuracy，thisstudyproposesalongitudinal motioncontrolerthatintegratesaHigh GainExtendedState Observer （HGESO）with odel PredictiveControl（MPC）.First，themulti-sourceexternaluncertaintiesareconsolidated ntoa stochastic time-varyingresistanceterm inthespeedcontrolframework，whichisestimatedusing the HGESO.Thisapproach is combinedwithanominal state-spacemodel toenhance thedescriptionof vehicle longitudinal dynamics.Subsequently，an incremental MPCcontrollerincorporatingtheestimateddisturbanceresistanceisemployed.Thiscontrollerdesignsamultiobjectiveoptimization function that simultaneouslyconsiders longitudinal speed tracking eror，ridecomfort，and energy consumption，ultimatelysolvingfortheoptimalcontrolinput.Finally，precisecalibrationof thelower-levelcontroler’s mappingtableisperformed toensureacurateoutputofthrotleandbrakecommands，therebyenhancingthecontroller'srealtimeexecution capability.Experimental resultsdemonstrate significantimprovements in speed trackingaccuracyunder challenging conditions： a 35% ＼～61.54% enhancement is achieved on steep slopes，and a 26.3%＼～80.8% improvement is observed during continuous steering maneuvers.The proposed controlstrategy efectively eliminates theimpactof external disturbances on vehicle longitudinal control.

Keywords：Intelligent vehicles，Longitudinal motioncontrol，External disturbance estimation， Jncertain influences，Model PredictiveControl （MPC）

【引用格式】荊威，趙文強，魏洪乾，等.不確定影響下智能車輛縱向干擾估計與運動控制[J].汽車技術(shù)，2025（5）：11-21.JINGW，ZHAOWQ，WEIHQ，etal.LongitudinalDisturbanceEstimationandMotionControlofIntellgentVehiclesundelUncertainInfluences[J].Automobile Technology，2025（5）： 11-21.

1前言

自動駕駛作為車輛智能化的體現(xiàn)，包含環(huán)境感知、自主決策以及控制執(zhí)行等關(guān)鍵技術(shù)。（剩余12800字）