基于分层式MPC的分布式四轮驱动车辆轨迹跟踪控制方法

doi:10.3901/JME.260142

摘要/Abstract

摘要： 随着自动驾驶技术向复杂场景延伸，分布式驱动四轮转向车辆因具备显著机动性能，其极限工况下的控制问题成为研究重点，如何在该场景下兼顾路径跟踪精度与行驶稳定性，是当前需要突破的关键方向。提出一种分层结构的模型预测控制+比例积分控制器，旨在提高分布式驱动四轮转向车辆在极限工况下的机动性能。首先，建立基于Frenet坐标系的车辆动力学模型，综合考虑前轴等效转角、后轴等效转角和附加横摆力矩控制量，结合基于相平面法的转角约束，设计一种分层式的控制器，提出基于质心侧偏角预测的减速策略以兼顾车辆的路径跟踪性能和稳定性。其次，在下层控制器中，考虑轮胎力极限和电机极限，基于轮胎利用率最优原则设计扭矩和转角分配策略，从而保证各车轮转角与扭矩的协调性，提升车辆的稳定裕度。最后，基于Matlab/Simulink和CarSim联合仿真平台，在低附着路面场景下对所提出的控制方法进行了验证。仿真结果表明，所提的分层控制结构能够有效提高4WID-4WIS车辆的路径跟踪精度和稳定性，具有良好的动态性能。与传统模型预测控制分层控制方法相比，车辆的横向位移最大误差值减小了29.8%，平均误差降低46.2%，横摆角速度也得到了有效控制，证明了所提出的控制方法的有效性。

关键词: 交通工程, 四轮独立驱动, 四轮独立转向, 分层控制, 自动驾驶, 轨迹跟踪

Abstract: With the extension of autonomous driving technology to complex scenarios, distributed drive four-wheel steering (4WID-4WIS) vehicles have become a research focus in terms of their control under extreme operating conditions due to their remarkable maneuverability. How to balance path tracking accuracy and driving stability in such scenarios remains a key challenge to be addressed. To enhance the maneuverability of 4WID-4WIS vehicles under extreme operating conditions, a hierarchical controller combining model predictive control(MPC) and proportional-integral(PI) control is proposed. First, a vehicle dynamics model based on the Frenet coordinate system is established, comprehensively considering front axle equivalent steering angle, rear axle equivalent steering angle, and additional yaw moment as control variables. Steering angle constraints based on the phase plane method are incorporated to balance vehicle stability. A hierarchical controller is designed, introducing a deceleration strategy based on centroid sideslip angle prediction to simultaneously ensure path tracking performance and stability. In the lower controller, a torque and steering angle allocation strategy is developed based on the optimal tire utilization principle, considering both tire force limits and motor constraints. This guarantees coordination among wheel steering angles and torque distribution while enhancing vehicle stability margin. Finally, the proposed control method is validated through co-simulations on Matlab/Simulink and CarSim platforms under low-adhesion road conditions. Simulation results demonstrate that the hierarchical control structure effectively improves path tracking accuracy and stability of vehicles with superior dynamic performance. Compared with traditional hierarchical MPC methods, the maximum lateral displacement error is reduced by 29.8%, average error decreases by 46.2%, and yaw rate is effectively controlled, confirming the validity of the proposed approach.

Key words: transportation engineering, four-wheel independent drive, four-wheel independent steering, hierarchical control, autonomous vehicles, trajectory tracking control

中图分类号:

TG156

肖跃, 贺宜, 张鸣. 基于分层式MPC的分布式四轮驱动车辆轨迹跟踪控制方法[J]. 机械工程学报, 2026, 62(8): 475-488.

XIAO Yue, HE Yi, ZHANG Ming. Hierarchical MPC-based Trajectory Tracking Control for Distributed Four-wheel-drive Vehicles[J]. Journal of Mechanical Engineering, 2026, 62(8): 475-488.

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http://www.cjmenet.com.cn/CN/Y2026/V62/I8/475

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