Intelligent vehicle path tracking coordinated optimization based on dual-steering cooperative game with fault-tolerant function

Abstract

Since that a single controller for intelligent vehicle path tracking is difficult to adapt to complex working conditions and achieve good system control performance, inspired by the concept of control redundancy, an adaptive weight based dual-steering control cooperative game coordinated optimization with fault-tolerant control method for intelligent vehicle path tracking is proposed in this paper. Firstly, the three-degree-of-freedom of lateral, yaw and longitudinal directions is considered to establish the vehicle single-track dynamics model, and two model predictive path tracking steering controllers with different control objective emphases in tracking accuracy and yaw stability are designed. Then, the cooperative game theory is introduced to model the steering interaction of dual controllers, and its Pareto equilibrium optimal solution is solved by the distributed model predictive control framework. According to the influence trend of two game players’ relative participation weights on the path tracking results, an adaptive weight adjustment strategy based on predicted output deviation is designed, to achieve the coordinated optimization of dual steering control, and the steering fault-tolerant control is also realized by cooperative game in some cases of steering partial failure. Carsim/Simulink co-simulation and hardware-in-loop test under the variable curvature path and control failure conditions prove that by the proposed method intelligent vehicle path tracking dual steering control can be coordinated optimized and optimal path tracking performance is obtained, and demonstrate the effectiveness of the adaptive weight adjustment method which has better fault-tolerant control compared to fixed weight allocation under different degrees of steering output failures.