Multi-Objective Collaborative Control Method for Multi-Axle Distributed Vehicle Assisted Driving

Author:

Wang Weichen1,Li Junqiu1,Li Xiaohan1,Li Zhichao1,Guo Ningyuan2ORCID

Affiliation:

1. National Engineering Laboratory for Electric Vehicles, Beijing Institute of Technology, Beijing 100081, China

2. School of Mechatronic Engineering and Automation, Foshan University, Foshan 528225, China

Abstract

For human–machine collaborative driving conditions, a hierarchical chassis multi-objective cooperative control method is proposed in this paper. Firstly, based on the phase plane theory, vehicle dynamics analysis is carried out to complete the definition of vehicle stability region. Secondly, based on the linear time-varying (LTV) system model, a cooperative control strategy combining fuzzy control with model predictive control (MPC) is proposed in the upper layer. In this strategy, the assisted driving weight adjustment coefficient and the stability weight adjustment coefficient are obtained by fuzzy mapping combining human–machine cooperation index and the vehicle stability region, respectively, and the optimization objectives of MPC are designed based on the above coefficients. In the lower layer torque allocation strategy, the stability weight adjustment coefficient is introduced to achieve multi-objective optimization of tire load rate and energy efficiency. For energy efficiency optimization, an optimal energy efficiency point-based tracking method is proposed to avoid nonlinearity caused by the introduction of motor loss models. Simulation analysis results show that the proposed strategy can effectively alleviate human–machine conflicts and improve vehicle handing stability. It also can achieve smaller tire load rate optimization through torque allocation and can reduce energy consumption by approximately 8% compared with the inter-axle torque allocation strategy. This study helps to promote the improvement of the comprehensive performance of assisted driving vehicles in human–machine cooperation, handling stability, and energy-saving torque distribution.

Funder

National Natural Science Foundation of China

Publisher

MDPI AG

Subject

Fluid Flow and Transfer Processes,Computer Science Applications,Process Chemistry and Technology,General Engineering,Instrumentation,General Materials Science

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