Abstract: In order to realize the longitudinal collision avoidance control of electric vehicles, improve the safety and humanization requirements of vehicles. For distributed electric vehicles, this paper establishes a simplified dynamic model of plane motion. Propose a longitudinal collision avoidance control strategy based on MPC. Based on the obstacle movement information obtained by the sensor, the toplevel controller is designed by the rolling optimization method to solve the expected longitudinal acceleration of the vehicle. The bottom distribution controller optimally distributes the wheel torque based on the expected acceleration of the vehicle to realize the longitudinal collision avoidance control of the vehicle based on the model predictive control. Finally, the effectiveness of the controller is tested by simulation.

Key words: Distributed electric vehicle; Longitudinal collision avoidance control; Model predictive control

摘要： 为了实现电动车辆纵向避撞控制，提高车辆的安全性和人性化需求，文章针对分布式电动 汽车，建立了平面运动的简化动力学模型；提出了基于 MPC 的纵向避撞控制策略，其中基于传感 器获取的障碍物运动信息，采用滚动优化方法设计顶层控制器，以求解车辆期望纵向加速度。底 层分配控制器则基于车辆期望加速度，对车轮转矩进行最优分配，实现基于模型预测控制的车辆 纵向避撞控制。最后通过仿真测试控制器的有效性。

关键词: 分布式电动汽车；纵向避撞控制；模型预测控制