基于多智能体模型预测(AMPC)的车辆横摆稳定性控制

doi:10.19562/j.chinasae.qcgc.2025.03.010

Abstract

Abstract:

With the rapid development of automotive active safety technology， the chassis electronic control unit of modern electric vehicles has seen explosive growth. In order to improve the real-time performance and accuracy of chassis active safety control， for the rapid growth of chassis electronic control units and the coupling conflict problems of low integration degree of control system and multi-objective co-optimization， in this paper firstly a chassis system integration control architecture based on multi-agent is established， and a hierarchical control system integrating the front and rear wheels' active steering system and the differential braking control system is proposed. Secondly， based on this， the state equations of each agent and its contribution to the vehicle's center of mass model are established and combined with the model predictive control to consider the characteristics of constraints. The cost function containing global state tracking error and local control effort is designed considering both the actuator constraints and the ground friction ellipse constraints. Finally， each agent realizes its collaborative control through the interaction of dynamic information of its respective contribution. The results show that the vehicle stability control method based on multi-agent model prediction proposed in this paper has obvious improvement in terms of traverse stability compared with independent control of each active safety unit under the driving conditions of high and low road attachment and large curvature curves， which has certain value for engineering application.

Key words: multi-agent, model predictive control, stability control, active steering, differential braking

Kefan Zhao,Xiaofei Pei,Zhenfu Chen,Hongbo Xiang. Vehicle Yaw Stability Control Based on Multi-agent Model Prediction Control[J].Automotive Engineering, 2025, 47(3): 481-488.

Figures/Tables 27

车辆参数	数值
整车质量/kg	1 650
质心到前轴距离/m	1.4
质心到后轴距离/m	1.65
绕Z轴转动惯量/（kg $? m 2$ ）	3 234
左右轮距/m	1.48
车轮半径/m	0.353
前轮轮胎侧偏刚度/（N $? r a d - 1$ ）	43 160
后轮轮胎侧偏刚度/（N $? r a d - 1$ ）	29 210

References 20

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S-turn		U-turn
AMPC	0.34 m	AMPC	0.82 m
MPC	0.38 m	MPC	2.77 m

S-turn		U-turn
AMPC	0.2 1m	AMPC	0.64 m
MPC	0.21 m	MPC	1.25 m

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Vehicle Yaw Stability Control Based on Multi-agent Model Prediction Control

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