基于多智能体模型预测(AMPC)的车辆横摆稳定性控制  

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

作　　者：赵柯帆 裴晓飞[1,2] 陈祯福 项鸿博 Zhao Kefan;Pei Xiaofei;Chen Zhenfu;Xiang Hongbo(School of Automotive Engineering,Wuhan University of Technology,Wuhan 430070;Wuhan University of Technology,Hubei Key Laboratory of Modern Auto Parts,Wuhan 430070)

机构地区：[1]武汉理工大学汽车工程学院,武汉430070 [2]武汉理工大学,现代汽车零部件湖北省重点实验室,武汉430070

出　　处：《汽车工程》2025年第3期481-488,507,共9页Automotive Engineering

基　　金：国家自然科学基金(52272426);广西科技重大专项(桂科AA22068094)资助。

摘　　要：随着汽车主动安全技术的快速发展,现代电动汽车底盘电控单元迎来爆炸式增长。为提高底盘主动安全控制的实时性与准确性,针对底盘电控单元的快速增长以及控制系统集成化程度低、多目标协同优化的耦合冲突问题,本文首先建立了基于多智能体(multi-agent based,MAB)的底盘系统集成控制架构,提出一种集成前、后轮主动转向系统和差动制动系统的控制体系;其次在此基础上,建立了每个智能体的状态方程以及其对车辆质心的贡献度模型,并结合模型预测控制考虑约束的特点,设计了包含全局状态跟踪误差和局部控制努力的代价函数,同时考虑执行器约束与地面摩擦椭圆约束;最后,每个智能体通过各自贡献度的动态信息交互实现其协同控制。研究结果表明:本文所提出的基于多智能体模型预测的车辆稳定性控制方法,在高低路面附着和大曲率弯道的行驶工况下,相比于各主动安全单元独立控制在横摆稳定性方面有明显的提升,具有一定的工程应用价值。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.

关 键 词：多智能体 模型预测控制 稳定性控制 主动转向 差动制动 

分 类 号：U463.1[机械工程—车辆工程]