智能化全线控电动汽车轨迹跟踪控制研究

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中图分类号：U469.7 文献标识码：A 文章编号：1003-8639（2025）09-0007-03

Research on Trajectory Tracking Control of Intelligent FullyLine-controlled Electric Vehicles;

Guo Jianhong

（Lanzhou Petrochemical Vocational and Technical University，Lanzhou 73oo6O，China）

【Abstract】This paper proposes a strategy based on model predictive control for the trajectory tracking control problemofintelligentfully line-controlledelectric vehicles.Byestablishingavehicle model thatincludes lateral， longitudinal and yaw dynamics，and comprehensivelyconsidering the actuator constraints of the distributed drive architecture，includingthe by-wire stering，by-wire brakeand by-wire drivesystems，a multi-objectiveoptimization function withthegoalof minimizing tracking eroris thendesigned.Subsequently，the improved interiorpointmethod is adopted forarapid solution to meetthereal-time controlrequirements.The joint simulation results based on MATLAB/Simulink and CarSim show thatthis control method can effectively improve tracking accuracy and robustness in various scenarios such as straight lines，curves，andobstacle avoidance.Compared with thetraditional PID control， the lateral tracking error isreduced by up to 53% ，and it has good anti-interference ability and driving smoothness. This research provides atheoretical reference and engineeringapplication basis forthe precisecontrolof fully by-wire electric vehicles.

【Key words】intellgent;by-wire;electric vehicles；MPC；autonomous trajectory tracking;vehicle dynamics

0 引言

随着汽车电动化、智能化技术的迅猛发展，全线控技术因结构紧凑、响应迅速、控制灵活等优势，逐渐成为下一代智能车辆的核心技术之一。（剩余3962字）