V2X 环境下分布式驱动车辆轨迹跟踪与稳定性的分层协同控制

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DOI：10.19981/j.CN23-1581/G3.2026.12.043

中图分类号：U495

文献标志码：A

文章编号：2095-2945（2026）12-0172-04

Abstract： To address the trajectory tracking and stability coordination control of V2X-based distributed drive vehicles， this paper proposes a hierarchical control architecture integrating Model Predictive Control （MPC）， Sliding Mode Observer （SMO）， and reduced-order Dynamic Output Feedback （RDOF）. First， the MPC trajectory planning layer generates desired trajectories with variable safety spacing based on V2X-acquired preceding vehicle states and road information. Second， the SMO estimates the sideslip angle and lumped disturbances in real-time， while an adaptive sliding mode controller compensates for steering deviations. Finally， a reduced-order RDOF controller optimized via LMI adjusts the yaw moment to suppress yaw-roll coupling instability. Experimental results demonstrate that the proposed method reduces the yaw rate error below 0.12 rad/s， stabilizes the roll angle within ±1.2∘ ， and achieves a single-step solving time of less than 5 ms， fulfilling real-time requirements. This approach effectively resolves conflicts between trajectory tracking and stability control， enhancing robustness and safety in multi-vehicle cooperative scenarios.

Keywords： V2X; distributed drive vehicle; Model Predictive Control （MPC）; Sliding Mode Observer （SMO）; Dynamic Output Feedback （DOF）; yaw-roll stability

随着 V2X（车联网）技术与分布式驱动车辆的快速发展，车辆稳定性控制面临更高要求：需在复杂工况下实现高精度轨迹跟踪、强鲁棒性抗干扰能力及多车协同控制。（剩余5530字）