为提高高速大曲率工况下智能汽车的路径跟踪控制精度，保证车辆横摆稳定性和侧倾稳定性，提出基于最优前轮侧向力和附加横摆力矩协同的力驱动模型预测控制（MPC）路径跟踪控制策略。充分利用轮胎非线性动力学特性，提高控制器的响应性能，构建基于时变线性轮胎模型的路径跟踪控制系统状态空间方程，预测车辆状态信息。采用零点力矩法建立车辆侧倾稳定性约束条件，设计基于MPC的防侧倾路径跟踪控制器。CarSim与Matlab/Simulink联合仿真结果表明，该控制器在保证车辆横摆稳定性和侧倾稳定性的前提下，高速大曲率工况下的最大横向位置偏差和航向角偏差分别降低14.08%和4.80%，低附着高速变道工况下分别降低22.95%和16.77%，说明所提出的控制器可显著改善车辆路径跟踪效果。

In order to improve the path tracking control accuracy of intelligent vehicles and ensure vehicle yaw stability and roll stability, a MPC path tracking control strategy based on force drive coordinating optimal front tires lateral force and external yaw moment is proposed under high-speed and large curvature extreme conditions. Aiming at taking full advantage of the non-linear dynamics of tires and improving the response characteristics of the controller, a vehicle state prediction equation based on a time-varying linear tire model is established to predict vehicle states at the MPC control frame. The zero-point moment method is used to ensure the vehicle roller stability at the limit of handling, and the anti-roll MPC path tracking controller is designed based on time-varying state space equation of path tracking control system. In order to verify the effectiveness of the proposed control strategy, experiments were carried out through the CarSim and Matlab/Simulink joint platform. The results show that the controller can ensure the yaw stability and roll stability of the vehicle and reduce the maximum lateral position deviation and heading angle deviation by 14.08% and 4.80%, respectively.