不确定影响下智能车辆纵向干扰估计与运动控制

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主题词：智能车辆纵向运动控制外部干扰估计不确定影响模型预测控制中图分类号：U471.15 文献标志码：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】荆威，赵文强，魏洪乾，等.不确定影响下智能车辆纵向干扰估计与运动控制[J].汽车技术，2025（5）：11-21.JINGW，ZHAOWQ，WEIHQ，etal.LongitudinalDisturbanceEstimationandMotionControlofIntellgentVehiclesundelUncertainInfluences[J].Automobile Technology，2025（5）： 11-21.

1前言

自动驾驶作为车辆智能化的体现，包含环境感知、自主决策以及控制执行等关键技术。（剩余12800字）