Multi-agent Based Vehicle Integrated Control Framework for Coordination of Active Steering, Driveline and Braking Systems

Abstract—Multi-agent based real-time control algorithm has prominent advantages in solving complicated distributed control problem. In this paper, a multi-agent based integrated control framework is proposed to organize the active steering, driveline and braking controllers, traditionally they have been relatively independent. Supervisor-like coordination mechanism is employed to manage interdependences and conflicts among the local controller agents ， so as to improve adaptability and robustness of the global controller. The controller subsystems and the integrated control architecture are implemented in Matlab/Simulink to study the vehicle handing capability under critical maneuvering condition. Simulation results show that the proposed multi-agent based control framework is competent of managing the subsystems and providing with excellent critical performance for the vehicle longitudinal and lateral movement control. Keywords-coordination framework; multi-agent; active steering; active driveline; active braking I