Abstract: In view of the coupling problem between lateral control and anti-roll control in path tracking of commercial vehicle, the lateral control and anti-roll control systems are regarded as participants in dynamic game process, and a cooperative lateral and anti-roll control strategy is proposed based on Pareto optimal equilibrium theory. Firstly, a yaw-roll coupling model of commercial vehicle is established, and is then augmented into an Intelligent vehicle-road closed loop model by using vehicle lateral position, heading angle and road preview information. Next, separate lateral and anti-roll controllers are designed based on the theory of linear quadric regulator for comparison. On the basis of separate optimal controllers and with further consideration of the control interaction between game participants, a cooperative lateral and anti-roll control strategy based on Pareto optimal equilibrium theory is devised. Finally, the simulation verification of slalom test with two control strategies are conducted and the results show that compared with separate optimal controllers, the proposed cooperative controller based on Pareto optimal equilibrium theory can effectively enhance the accuracy of path tracking while assuring better rolling and handling stabilities.

Key words: commercial vehicle, path tracking, anti-roll control, Pareto optimal equilibrium theory