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With the rapid development of automotive active safety technology, the chassis electronic control unit of modern electric vehicles has seen explosive growth. In order to improve the realtime performance and accuracy of chassis active safety control, for the rapid growth of chassis electronic control units and the coupling conflict problems of low integration degree of control system and multiobjective cooptimization, in this paper firstly a chassis system integration control architecture based on multiagent is established, and a hierarchical control system integrating the front and rear wheels' active steering system and the differential braking control system is proposed. Secondly, based on this, the state equations of each agent and its contribution to the vehicle's center of mass model are established and combined with the model predictive control to consider the characteristics of constraints. The cost function containing global state tracking error and local control effort is designed considering both the actuator constraints and the ground friction ellipse constraints. Finally, each agent realizes its collaborative control through the interaction of dynamic information of its respective contribution. The results show that the vehicle stability control method based on multiagent model prediction proposed in this paper has obvious improvement in terms of traverse stability compared with independent control of each active safety unit under the driving conditions of high and low road attachment and large curvature curves, which has certain value for engineering application.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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