Robust Game-Theory Control for All-Wheel Steering to Enhance Vehicle Handling Stability Performance

The all-wheel steering technology enhances vehicle maneuverability, while a modular, plug-and-play chassis electrical architecture facilitates the integration of more electronic control units. Hence, this article aims to improve vehicle handling stability performance by integrating the active front-wheel steering system (AFS) and the active rear-wheel steering system (ARS) within a multiagent game theory framework. First, a vehicle dynamics model integrating AFS and ARS control, along with system uncertainties, is developed. Numerical simulations are performed to validate the effectiveness of integrated ARS in enhancing vehicle handling stability performance. Then, a multiagent system (MAS) framework is constructed to achieve coordinated control between AFS and ARS based on distributed model predictive control (DMPC), with interactive behaviors among agents defined. Furthermore, cooperative game theory is introduced to find optimal solutions. To guarantee the system’s stability and antidisturbance capabilities, robust compensation control and terminal constraints are designed. The MAS framework can also address the development requirements for modularization in chassis system design. Finally, we validated the effectiveness of the proposed method through experiments conducted under several typical test conditions. The comparative tests demonstrate that the MAS framework can improve the vehicle’s handling stability.