关键词: 电动汽车；主动前轮转向；横摆稳定性；Nash 博弈理论；CarSim /Simulink

Abstract: In order to improve the lateral stability of hub motor driven electric vehicles under dangerous conditions such as high speed and low adhesion, this paper proposes a cooperative control strategy based on Nash game. The upper and lower two-layer control structure is used to design the stability control strategy. In the upper layer, Nash game coordination control strategy is introduced to determine the front wheel angle and additional yaw moment, and track the expected yaw rate and the centroid sideslip angle. The lower layer distributes the driving torque of the four wheels according to the axle load ratio. The double lane change simulation test under dangerous conditions is carried out on the joint simulation platform of CarSim/Simulink. The results show that compared with the active front wheel steering control only, the maximum error of yaw rate is 2.25 °and the maximum error of centroid sideslip angle is 0.55 ° when the coordinated control strategy based on Nash game is adopted when driving at 75 km/h on wet asphalt pavement, and the good path tracking performance is maintained. By properly coordinating the actions of active front steering (AFS) and direct yaw-moment control (DYC), the control strategy proposed in this paper can effectively improve the lateral stability and ensure the normal driving of vehicles under dangerous driving conditions.

Key words: Electric vehicle; Active front wheel steering; Yaw stability; Nash game theory; CarSim/ Simulink