Game-Based Hierarchical Cooperative Control for Electric Vehicle Lateral Stability via Active Four-Wheel Steering and Direct Yaw-Moment Control

作     者：Zhao, Lin Lu, Shaobo Zhang, Bohan 

作者机构：Chongqing Univ Sch Automot Engn Chongqing 400040 Peoples R China Chongqing Univ State Key Lab Mech Transmiss Chongqing 400040 Peoples R China 

出 版 物：《ENERGIES》 (能源)

年 卷 期：2019年第12卷第17期

页      面：3339页

核心收录：

学科分类：0820[工学-石油与天然气工程] 08[工学] 0807[工学-动力工程及工程热物理] 

基　　金：National Natural Science Foundation of China [51675066, 51005256] Chongqing Research Program of Basic Research and Frontier Technology [cstc2017jcyjAX0323] Fundamental Research Funds for the Central Universities [2019CDXYQC0002] 

主　　题：active four-wheel steering direct yaw-moment control lateral stability control Stackelberg game theory sequential quadratic programming 

摘      要：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 upperlower double-layer hierarchical control structure is adopted for the design of a stability control strategy. The leaderfollower-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.