Multi-Agent-Based Coordinated Control of ABS and AFS for Distributed Drive Electric Vehicles

A vehicle with a four-channel anti-lock braking system (ABS) has poor safety and stability when braking on a low-adhesion road or off-road. In view of this situation, this paper proposes a multi-objective optimization coordinated control method for ABS and AFS based on multi-agent model predictive control (MPC). Firstly, the single-wheel control method is adopted to establish the single-wheel equation based on the slip rate and the stability equation of the centroid yaw based on AFS. The four wheels and the centroid are regarded as agents. The mathematical model of distributed drive electric vehicles based on graph theory and the coordinated control of AFS and ABS is established to reduce the dimension of the model. Secondly, on the basis of the multi-agent theory, an integrated coordinated control method for AFS and ABS based on distributed model predictive control (DMPC) is proposed to realize the ideal values of the vehicle’s slip rate, yaw rate, and sideslip angle, and improve the braking safety and handling stability of the vehicle. Then, to solve the problems of high levels of resource consumption, low real-time performance, and complex implementation in the optimization of the DMPC solution, a prediction solution method using a discrete simplified dual neural network (SDNN) is proposed to balance the computational efficiency and system dynamic performance. Finally, a hardware-in-the-loop (HIL) test bench is built to test the effectiveness of the proposed method under the conditions of a low-adhesion road and an off-road