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Steering and braking game control architecture based minimax robust stability control for emergency avoidance of autonomous vehicles

查看全文 作　　者：WU [1]Jian;WU [1]DeXi;YAN [1]Yang;ZHANG [2]Ning;BAO [1]ChunJiang;WANG [1]FengBo 高影响力作者 机构地区：[1]School of Mechanical and Automotive Engineering,Liaocheng University,Liaocheng 252000,China;[2]School of Mechanical Engineering,Southeast University,Nanjing 211189,China高影响力机构 出　　处：《Science China(Technological Sciences)》索引2022年第65卷第4期,共13页高影响力期刊 基　　金：supported by the National Natural Science Foundation of China (Grant No. 52072072);Shandong Province Major Scientific and Technological Innovation Projects (Grant No. 2019TSLH0701) 摘　　要：The existing electronic stability control(ESC)system does not consider the steering intention of an autonomous driving system(ADS)during autonomous driving emergency avoidance.The distributed control scheme between ESC and ADS does not involve any information interaction,and the balance between path tracking and lateral stability is not optimal.A Nash game control scheme of steering and braking system is proposed to ensure that both path tracking and stability are simultaneously in the loop and solve the conflict by simulating the interaction between the two agents considering the impact on the interaction between a path following and lateral stability.Each agent considers its interests and the opponent’s interest,resulting in a global optimal control solution of steering control and ESC.Then,using minimax optimization theory,a lateral stability strategy is proposed to make the game control architecture under emergency avoidance more robust to uncertain lateral disturbances.Finally,simulation and hardware in the loop experiments show that the proposed scheme can consider both vehicle’s path following performance and lateral stability in the event of an emergency. 关 键 词：game framework emergency avoidance steering intention stability minimax theory
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