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Cooperative control for FWID-EVs with active suspension under extreme conditions by using off-policy safe
Zhijiang Gao1, Pak Kin Wong1, Fuqiu Zhou1
1Department of Electromechanical Engineering, University of Macau, Taipa, 999078, Macao.
Abstract:
The unbalanced distribution of tyre normal forces induced by lateral load transfer poses a significant threat to vehicle handling stability under extreme conditions. However, the mitigation of such imbalance is inherently constrained by the suspension support capability. This work proposes a novel off-policy safe reinforcement learning-based cooperative (OSRC) controller that coordinates direct yaw control (DYC) and active suspension system (ASS) to optimize the distribution of tyre normal forces and enhance the handling stability of the four-wheel independent drive electric vehicle (FWID-EV) under extreme conditions. First, a DYC-ASS cooperative architecture is proposed to optimize the distribution of tyre normal forces in the FWID-EV system. Subsequently, a combined tyre-slip-angle and phase-portrait (CTP) method is proposed to characterize the relationship between the tyre force saturation and the lateral stability region (LSR). Based on a two-player game, the OSRC controller is proposed to achieve the cooperation between the DYC and the ASS and enhance the handling stability of the FWID-EV under extreme conditions. Finally, the effectiveness of the proposed OSRC controller is examined via the rapid control prototyping tests.
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