Extension coordinated control of distributed-driven electric vehicles based on evolutionary game theory

The control of vehicle chassis dynamics requires a fast and complex process, with constantly changing tire forces and vehicle states. When the control system is completely rational, there are coupling relations and functional redundancy among subsystems, which makes it difficult to achieve optimal overall performance. This paper proposes a hierarchical extension coordinated controller, which considers the bounded rationality of the control system to address traditional stability control interference on driving speed and driver operation. The supervisory layer uses the extension phase plane to divide the operating state of vehicles. The coordinated decision-making layer considers active front-wheel steering (AFS) and direct yaw moment control (DYC) as game bodies, establishing an evolutionary game model to determine coordination weights. Results from the Carsim/Simulink platform comparison with a completely rational independent control system indicate the bounded rationality coordinated controller achieves better stability control with less intervention on driving speed. Vehicle testing has confirmed the effectiveness of the coordination control strategy.