Home Journals Articles Updates About
CN
image
收藏切换
Longitudinal Disturbance Estimation and Motion Control of Intelligent Vehicles under Uncertain Influences
收藏切换
PDF
Wei Jing1, Wenqiang Zhao1, Hongqian Wei1, Chenguang Lai3, Youtong Zhang1, 2
Automobile Technology | 2025, (5) : 11 - 21
Less
收藏切换
Automobile Technology | 2025, (5): 11-21
Longitudinal Disturbance Estimation and Motion Control of Intelligent Vehicles under Uncertain Influences
Full
Wei Jing1, Wenqiang Zhao1, Hongqian Wei1, Chenguang Lai3, Youtong Zhang1, 2
Affiliations
  • 1 School of Mechanical and Vehicular Engineering, Beijing Institute of Technology, Beijing 100081
  • 2 Yangtze Delta Region Academy, Beijing Institute of Technology, Jiaxing 314000
  • 3 International Cooperation Joint Laboratory of Intelligent Manufacturing and Control of Key Components of Energy-Saving and New Energy Vehicles, Ministry of Education, Chongqing University of Technology, Chongqing 400054
Published: 2025-05-24 doi: 10.19620/j.cnki.1000-3703.20241068
Outline
收藏切换

To mitigate the interference of external disturbances and environmental uncertainties and improve vehicle speed tracking accuracy, this study proposes a longitudinal motion controller that integrates a High Gain Extended State Observer (HGESO) with Model Predictive Control (MPC). First, the multi-source external uncertainties are consolidated into a stochastic time-varying resistance term in the speed control framework, which is estimated using the HGESO. This approach is combined with a nominal state-space model to enhance the description of vehicle longitudinal dynamics. Subsequently, an incremental MPC controller incorporating the estimated disturbance resistance is employed. This controller designs a multi-objective optimization function that simultaneously considers longitudinal speed tracking error, ride comfort, and energy consumption, ultimately solving for the optimal control input. Finally, precise calibration of the lower-level controller’s mapping table is performed to ensure accurate output of throttle and brake commands, thereby enhancing the controller’s real-time execution capability. Experimental results demonstrate significant improvements in speed tracking accuracy under challenging conditions: a 35%~61.54% enhancement is achieved on steep slopes, and a 26.3%~80.8% improvement is observed during continuous steering maneuvers. The proposed control strategy effectively eliminates the impact of external disturbances on vehicle longitudinal control.

Intelligent vehicles  /  Longitudinal motion control  /  External disturbance estimation  /  Uncertain influences  /  Model Predictive Control (MPC)
Wei Jing, Wenqiang Zhao, Hongqian Wei, Chenguang Lai, Youtong Zhang. Longitudinal Disturbance Estimation and Motion Control of Intelligent Vehicles under Uncertain Influences[J]. Automobile Technology, 2025 , (5) : 11 -21 . DOI: 10.19620/j.cnki.1000-3703.20241068
Appendix
Less
Year 2025 volume Issue 5
PDF
364
156
Cite this Article
BibTeX
Article Info
doi: 10.19620/j.cnki.1000-3703.20241068
  • Online Date：2025-11-14
  • Published：2025-05-24
Article Data
Affiliations
History
  • Revised：2025-01-21
Funding
Affiliations
    1 School of Mechanical and Vehicular Engineering, Beijing Institute of Technology, Beijing 100081
    2 Yangtze Delta Region Academy, Beijing Institute of Technology, Jiaxing 314000
    3 International Cooperation Joint Laboratory of Intelligent Manufacturing and Control of Key Components of Energy-Saving and New Energy Vehicles, Ministry of Education, Chongqing University of Technology, Chongqing 400054
References
Share
https://castjournals.cast.org.cn/joweb/qcjs/EN/10.19620/j.cnki.1000-3703.20241068
Share to
QR

Scan QR to access full text

Cite this article
BibTeX
Citations
表12种不同金属材料的力学参数
科
Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
关闭全屏
  • BibTeX
  • EndNote
  • RefWorks
  • TxT
Links
Articles
Latest Articles
Most Read
Collections
Updates
Events
News
Multimedia
About
About Us
Contact
No. 86 Xueyuan South Road, Haidian District, Beijing
100081
010-62199257
qkjq@cast.org.cn

Copyright © 2025 China Association for Science and Technology. All rights reserved. For all open access content, the relevant licensing terms apply.
Sponsored by the Office of the Leading Group for Cybersecurity and Informatization of CAST, and supported by Science and Technology Review Publishing House