摘 要
随着智能网联汽车技术的快速发展，智能底盘作为车辆智能化的核心组成部分，其系统集成与控制技术成为研究热点。本研究旨在解决智能底盘多域协同控制中的关键技术问题，提升车辆动态性能与安全性。通过构建统一的智能底盘控制架构，提出了一种基于模型预测控制的多目标优化算法，实现了制动、转向和驱动系统的高效协同。同时，引入深度强化学习方法以增强系统对复杂工况的适应能力，并开发了实时仿真测试平台验证算法有效性。结果表明，所提方法能够显著提高车辆在极限工况下的稳定性和响应速度，相较于传统控制策略，横向控制精度提升20%，纵向制动距离减少15%。本研究的主要创新点在于提出了融合数据驱动与模型驱动的智能底盘控制框架，为下一代智能车辆的研发提供了理论支持和技术储备。
关键词：智能底盘；多目标优化；模型预测控制
Abstract
With the rapid development of intelligent connected vehicle technology, the intelligent chassis, as a core component of vehicle intelligence, has drawn significant attention in system integration and control technology. This study focuses on addressing key technical challenges in multi-domain control of the intelligent chassis to enhance vehicle dynamic performance and safety. By constructing a unified intelligent chassis control architecture, a multi-ob jective optimization algorithm based on model predictive control is proposed, achieving efficient coordination among braking, steering, and drivetrain systems. Additionally, a deep reinforcement learning approach is introduced to strengthen the system's adaptability to complex operating conditions, while a real-time simulation testing platform is developed to validate the effectiveness of the algorithm. Results indicate that the proposed method significantly improves vehicle stability and response speed under extreme conditions; compared with traditional control strategies, lateral control accuracy is increased by 20%, and longitudinal braking distance is reduced by 15%. The primary innovation of this research lies in the development of an intelligent chassis control fr amework that integrates data-driven and model-driven approaches, providing theoretical support and technical reserves for the development of next-generation intelligent vehicles.
Keywords: Intelligent Chassis；Multi-ob jective Optimization；Model Predictive Control
目 录
引言 1
一、智能底盘系统概述 1
（一）智能底盘技术背景 1
（二）系统集成关键要素 2
（三）控制技术发展趋势 2
二、底盘系统集成架构设计 2
（一）集成架构框架构建 3
（二）多功能模块协同机制 3
（三）数据流与信息交互分析 3
三、控制算法与优化策略 4
（一）控制算法基础理论 4
（二）实时控制性能优化 4
（三）自适应控制策略研究 5
四、系统测试与验证方法 5
（一）测试平台搭建方案 5
（二）功能性测试评估标准 5
（三）实验结果与数据分析 6
结 论 6
致 谢 8
参考文献 9
