Research on road tracking and anti-roll game control scheme of commercial vehicle based on Nash equilibrium

In view of the problem that the active suspension conflicts with the road tracking system while resisting roll when the commercial vehicle encounters emergency road conditions in the process of unmanned driving, this article is based on the Nash non-cooperative open-loop feedback game theory, taking the road tracking system, and the active anti-roll system as the participants of the game. An interactive control scheme which can not only accurately steer but also take into account the vertical roll stability is proposed. Firstly, the coupled model of Horizontal pendulum-anti-roll for commercial vehicles is established and extended to the vehicle-road three-degree of freedom closed model. Then, based on the derivation of the linear quadratic optimal control model (LQ), the non-cooperative open-loop Nash game theory is used to obtain the interactive optimal control afferent the road tracking system and the active anti-roll system. Finally, the experimental scheme is verified by hardware in the loop experiment. The results show that the interactive control scheme of road tracking and anti-roll based on Nash non-cooperative game for commercial vehicles allows the vehicle to take the vertical stability into account while turning actively, thus ensuring the safety and stability of the vehicle during driving.