中文摘要：

为了实现复杂工况下车辆自动跟踪控制,建立了纵横向耦合车辆模型,研究了车辆在弯道变速行驶工况的动力学耦合控制问题,根据滑模控制以及动态表面控制理论,提出了一种基于车辆转向与驱动控制的综合控制器,并针对横向车速不可测,设计了横向速度观测器.仿真结果表明该综合控制器具有良好跟踪性能,在复杂工况下表现出较好的动、静态特性.

英文摘要：

A longitudinal and transverse coupled vehicle model is established to study the vehicle dynamic coupled control under a driving condition of acceleration/deceleration on curved path. Base on the theories of sliding mode control and dynamic surface control, a vehicle steering and driving integrated controller is proposed, and in View of that the transverse speed can not be measured, a transverse speed observer is designed. A simulation is conducted and the results show that the integrated controller has good tracking performance and exhibits good dynamic and static characteristics under complicated driving conditions.