Steering and braking game control architecture based minimax robust stability control for emergency avoidance of autonomous vehicles

The existing electronic stability control (ESC) system does not consider the steering intention of an autonomous driving system (ADS) during autonomous driving emergency avoidance. The distributed control scheme between ESC and ADS does not involve any information interaction, and the balance between path tracking and lateral stability is not optimal. A Nash game control scheme of steering and braking system is proposed to ensure that both path tracking and stability are simultaneously in the loop and solve the conflict by simulating the interaction between the two agents considering the impact on the interaction between a path following and lateral stability. Each agent considers its interests and the opponent's interest, resulting in a global optimal control solution of steering control and ESC. Then, using minimax optimization theory, a lateral stability strategy is proposed to make the game control architecture under emergency avoidance more robust to uncertain lateral disturbances. Finally, simulation and hardware in the loop experiments show that the proposed scheme can consider both vehicle's path following performance and lateral stability in the event of an emergency.