整合車輛運動學的動力學模型構建研究
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中圖分類號：U461 收稿日期：2025-05-09 DOI：10.19999/j.cnki.1004-0226.2025.07.009
Research on the Construction of Integrated Vehicle Kinematics and Dynamics Model
Liu yaol，Zhao Junli2 1.Schoolof Intellgent Manufacturing，Henan Polytechnic University，HebiSchoolofEngineeringand Technology， Hebi 458000，China 2.School of Economics and Management，Hebi Polytechnic，Hebi 4580oo，China
Abstract：NonlinearModelPredictiveControl（NMPC）playsakeyroleinHigh-LevelAutonomous Driving.Thispaperproposes andelaboratesindetailonaninnovativeintegratedvehiclemodeltatcombinesinematicsanddynamics，temedtheIntegratedKine maticandDynamicModel（IKDmodel）.Themodelachievesamorecomprehensivesimulationofveiclebehavioralcharacteristicsunderdiversedrivingconditionsbyintegratingtheoreticalframeworksfrombothvhiclekinematicsanddyamics，terebyenabligore precisemotionpredictionandcontrol.Finally，modelaccuracyisrigorouslyvalidatedusingaco-simulationplatformbasedonCarSim and Simulink.
Keywords：AutonomousDriving;VehicleKinematicModel;Model Predictive
1前言
在車輛控制研究中，精確的模型是控制算法的基礎，如十四自由度車輛模型這種高自由度模型可以很好地描述車輛動力學特性。（剩余2889字）