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

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.