整合车辆运动学的动力学模型构建研究

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中图分类号：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

在车辆控制研究中，精确的模型是控制算法的基础，如十四自由度车辆模型这种高自由度模型可以很好地描述车辆动力学特性。（剩余2889字）