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In order to extend the application scenario of model predictive control and improve the trajectory tracking accuracy of intelligent vehicles in extreme wind environment，an adaptive horizon control method considering crosswind stability is proposed. Firstly，taking the process of car overtaking on the sea-crossing bridge as the research object，the crosswind stability analysis model of car overtaking is established by using the coupling method of vehicle aerodynamics and system dynamics. Then，the safety risk model of vehicle lateral motion is established，and the adaptive horizon regulator is designed taking into consideration of lateral motion risk level，vehicle speed and lateral error，so as to realize the dynamic adjustment of prediction horizon and control horizon. Finally，CarSim and Simulink are used to build a joint simulation scenario，and the overtaking trajectory is planned by quintic polynomial to verify the tracking accuracy and robustness of the controller. The results show that compared with the fixed horizon and variable weight model predictive controller，the improved controller can better resist the aerodynamic interference of ' wind-vehicle-bridge' and improve the vehicle trajectory tracking accuracy at a lower real-time cost，with significant improvement in vehicle crosswind stability.
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| 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 |
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