针对变化速度下车辆轨迹跟踪精度以及实时性差的问题，提出了一种基于模型预测控制的横纵耦合控制方法。在三自由度车辆动力学模型中，将车轮驱动力与前轮转角作为控制量，以单控制器形式实现车辆横纵向运动的综合控制，并且在考虑耦合特性的基础上，设计目标函数与可变权重系数，求解最优横纵向控制量。并且基于五次多项式理论，设计一种变速双移线轨迹以验证控制器综合轨迹跟踪能力。实验结果表明，该控制器能有效跟踪变化车速并且保持高轨迹跟踪精度与良好的实时性。

A lateral and longitudinal coupling integrated control method based on model predictive control was proposed for the problem of vehicle trajectory tracking accuracy as well as stability under changing speed. In the three-degree-of-freedom vehicle dynamics model, the wheel driving force and steering wheel angle were used as control quantities to realize the integrated control of vehicle lateral-longitudinal motion in the form of a single controller. The optimal lateral-longitudinal control quantity was solved by designing the objective function and variable weight coefficients based on the coupling characteristics. Based on the fifth polynomial theory, a variable speed double-lane trajectory was designed to verify the tracking capability of the controller. The results show that the controller can effectively track the desired trajectory and variable vehicle speed with high accuracy and good real-time performance.