王琪,叶洪涛,罗文广

• 1:广西科技大学自动化学院
• 2:广西汽车零部件与整车技术重点实验室(广西科技大学)

摘要(Abstract)：

车辆队列控制是多智能体系统分支下分布式协同控制中具有代表性的问题，也是当前研究热点之一。本文以单向拓扑结构的异质车辆队列为研究对象，提出一种基于模糊控制改进的分布式模型预测控制（distributed model predictive control, DMPC）策略，并构建车辆队列纵向跟随模型。在此基础上，进一步设计了一种无人车系统的模糊分布式模型预测控制策略，实现无人车队列的稳定运行。通过预测轨迹与假设轨迹之间的误差构建了模型目标函数，并在DMPC策略中对目标函数内的跟随性权重系数进行实时调整，最终输出满足驾驶场景需求的理想控制状态。仿真结果表明，与传统DMPC相比，本文所提策略使车辆队列平均间距误差减小了11.32%，验证了所提模糊DMPC策略的有效性。

关键词(KeyWords)： 分布式模型预测控制(DMPC);模糊控制;车辆队列;车辆跟随

Abstract:

Keywords:

基金项目(Foundation): 广东省基础与应用基础研究项目（2021B1515420003）;; 广西汽车零部件与整车技术重点实验室自主研究课题（2023GKLACVTZZ07）资助

作者(Author): 王琪,叶洪涛,罗文广

DOI: 10.16375/j.cnki.cn45-1395/t.2026.03.011

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