针对四轮独立驱动电动汽车（Four Wheel Independent Drive Electric Vehicle, 4WIDEV）的构型，开发了一种融合主动前轮转向（Active Front Steering, AFS）与直接横摆力矩控制（Direct Yaw-moment Control, DYC）的自适应巡航控制系统。该系统基于双层控制架构，上层控制器采用模型预测控制（Model Predictive Control, MPC）策略，精确追踪车辆的期望纵向力和附加横摆力矩；下层控制器则利用AFS和DYC的控制冗余性，优化计算前轮的附加转角和四轮的转矩分配，以提升车辆的稳定性和经济性。仿真结果显示，相较于传统的平均转矩分配策略，本集成控制策略在确保车辆稳定性的同时，能够实现最高13.02%的能源节能效果。此项研究成果为提升四轮独立驱动电动汽车的综合性能提供了新的思路。

For the configuration of Four Wheel Independent Drive Electric Vehicles (4WIDEV), an adaptive cruise control system integrating Active Front Steering (AFS) and Direct Yaw-moment Control (DYC) has been developed. This system is based on a dual-layer control architecture. The upper-level controller employs a Model Predictive Control (MPC) strategy to precisely track the vehicle's desired longitudinal force and additional yaw moment. The lower-level controller utilizes the control redundancy of AFS and DYC to optimize the calculation of the additional steering angle for the front wheels and the torque distribution for all four wheels, enhancing the vehicle's stability and economy. Simulation results indicate that, compared to traditional average torque distribution strategies, this integrated control strategy can achieve up to 13.02% energy savings while ensuring vehicle stability. This research provides new insights into enhancing the comprehensive performance of 4WIDEV.

U461.8

重庆市自然科学基金创新发展联合(CSTB2023NSCQ-LZX0169)。