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

Author

Listed:
  • Lin Zhao

    (School of Automotive Engineering, Chongqing University, Chongqing 400040, China)

  • Shaobo Lu

    (School of Automotive Engineering, Chongqing University, Chongqing 400040, China
    State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400040, China)

  • Bohan Zhang

    (School of Automotive Engineering, Chongqing University, Chongqing 400040, China)

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.

Suggested Citation

  • Lin Zhao & Shaobo Lu & Bohan Zhang, 2019. "Game-Based Hierarchical Cooperative Control for Electric Vehicle Lateral Stability via Active Four-Wheel Steering and Direct Yaw-Moment Control," Energies, MDPI, vol. 12(17), pages 1-21, August.
    • Handle: RePEc:gam:jeners:v:12:y:2019:i:17:p:3339-:d:262226
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    References listed on IDEAS

    as
    1. Jian Wu & Shuo Cheng & Binhao Liu & Congzhi Liu, 2017. "A Human-Machine-Cooperative-Driving Controller Based on AFS and DYC for Vehicle Dynamic Stability," Energies, MDPI, vol. 10(11), pages 1-18, October.
    2. Philipp Hungerländer & Reinhard Neck, 2011. "An Algorithmic Equilibrium Solution for n-Person Dynamic Stackelberg Difference Games with Open-Loop Information Pattern," Dynamic Modeling and Econometrics in Economics and Finance, in: Herbert Dawid & Willi Semmler (ed.), Computational Methods in Economic Dynamics, pages 197-214, Springer.
    3. Jiankun Peng & Hongwen He & Nenglian Feng, 2013. "Simulation Research on an Electric Vehicle Chassis System Based on a Collaborative Control System," Energies, MDPI, vol. 6(1), pages 1-17, January.
    4. Wanke Cao & Helin Liu & Cheng Lin & Yuhua Chang & Zhiyin Liu & Antoni Szumanowski, 2017. "Co-Design Based Lateral Motion Control of All-Wheel-Independent-Drive Electric Vehicles with Network Congestion," Energies, MDPI, vol. 10(10), pages 1-16, October.
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