Multi-Agent-Based Coordinated Control of ABS and AFS for Distributed Drive Electric Vehicles

A vehicle with a four-channel anti-lock braking system (ABS) has poor safety and stability when on low-adhesion road or off-road. In view of this situation, paper proposes multi-objective optimization coordinated control method for ABS AFS based multi-agent model predictive (MPC). Firstly, the single-wheel is adopted to establish equation slip rate centroid yaw AFS. The four wheels are regarded as agents. mathematical distributed drive electric vehicles graph theory established reduce dimension model. Secondly, basis theory, an integrated (DMPC) proposed realize ideal values vehicle’s rate, sideslip angle, improve handling vehicle. Then, solve problems high levels resource consumption, low real-time performance, complex implementation in DMPC solution, prediction solution using discrete simplified dual neural network (SDNN) balance computational efficiency dynamic performance. Finally, hardware-in-the-loop (HIL) test bench built effectiveness under conditions