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

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.