基于事件触发模型预测控制的分布式驱动汽车横纵向分层控制OA

Autonomous vehicles operating in complex outdoor off-road environments face challenges such as harsh operating condi-tions,low tracking accuracy,and difficulty in stability control.To enhance the tracking accuracy and stability of distributed drive electric vehicles in complex off-road environments,a distributed longitudinal and lateral control method based on Event-Triggered Model Predictive Control(ET-MPC)was proposed.First,a hierarchical centralized control architecture was proposed,where the upper-level controller consists of a three-degree-of-freedom ET-MPC and a longitudinal speed LQR controller.Second,the lower-level torque distribution layer allocated torque by constructing a minimum Tire Attachment Utilization(TAU)to enhance vehicle stability.Finally,the effectiveness of the proposed algorithm was verified through co-simulation on the CarSim software and Mat-lab/Simulink software platform.The results show that the algorithm exhibits good tracking performance and stability under differ-ent vehicle speeds and road adhesion conditions.