Abstract
A Stackelberg game-based cooperative control strategy is proposed for enhancing the lateral stability of a four-wheel independently driving electric vehicle (FWID-EV). An upper‒lower double-layer hierarchical control structure is adopted for the design of a stability control strategy. The leader‒follower-based Stackelberg game theory (SGT) is introduced to model the interaction between two unequal active chassis control subsystems in the upper layer. In this model, the direct yaw-moment control (DYC) and the active four-wheel steering (AFWS) are treated as the leader and the follower, respectively, based on their natural characteristics. Then, in order to guarantee the efficiency and convergence of the proposed control strategy, a sequential quadratic programming (SQP) algorithm is employed to solve the task allocation problem among the distributed actuators in the lower layer. Also, a double-mode adaptive weight (DMAW)- adjusting mechanism is designed, considering the negative effect of DYC. The results of cosimulation with CarSim and Matlab/Simulink demonstrate that the proposed control strategy can effectively improve the lateral stability by properly coordinating the actions of AFWS and DYC.
Highlights
Due to increasing demand for a low-carbon society, fully electric vehicles (EV) have drawn much attention in the automotive field [1,2]
This paper focuses on the cooperation between active four-wheel steering (AFWS) and direct yaw-moment control (DYC) to further improve the lateral stability of four-wheel independently driving electric vehicles (FWID-EV) under extreme conditions
The proposed control strategy is evaluated by the cosimulation of CarSim and Matlab/Simulink
Summary
Due to increasing demand for a low-carbon society, fully electric vehicles (EV) have drawn much attention in the automotive field [1,2]. Energies 2019, 12, 3339 approaches the adhesion limit [9], whereas DYC could play an effective role under these extreme conditions This phenomenon reflects the variable control effects of AFS and DYC under changing vehicle states, and some research may not sufficiently consider the dynamic characteristics of the vehicle subsystems. Since the AFS and DYC-based stability controller generally operate in an interactive manner as the vehicle travels ahead in a road tracking scenario, dynamic game theory should be applied. The main contributions of this study are threefold: First, inspired by [21], a leader-follower-based interactive control strategy between AFWS and DYC is proposed to deal with their unequal control authority based on dynamic game theory.
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