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

摘要： 为提高轮毂电机驱动电动汽车在高速、低附着等危险工况下的侧向稳定性，提出一种 基于 Nash 博弈的协同控制策略，采用上下双层控制结构进行稳定性控制策略的设计。上层引 入 Nash 博弈协调控制策略决策前轮转角和附加横摆力矩，跟踪期望横摆角速度和质心侧偏 角；下层根据轴荷比例分配四个车轮的驱动力矩。并在 CarSim/Simulink 的联合仿真平台进行 危险工况下双移线仿真试验，结果表明，相比于只进行主动前轮转向控制，在潮湿沥青路面 以 75 km/h 行驶时，采用基于 Nash 博弈的协调控制策略横摆角速度最大误差为 2.25°，侧向 速度最大误差为 0.12 m/s，且保持良好的路径跟踪性能；通过适当协调主动前轮转向（AFS） 和直接横摆力矩控制（DYC）的动作，文章所提出的控制策略可以有效地提高横向稳定性， 保证车辆在危险行驶工况下正常行驶。

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