Corner module vehicles (CMVs) achieve the decoupling of driving, braking,
steering, and suspension, significantly enhancing vehicle handling potential,
but under extreme operating conditions, the interactions between actuators
severely constrain the improvement of vehicle handling performance. In order to
mitigate conflicts between subsystems and enhance vehicle handling stability, a
hierarchical hybrid game–based limit stability control method for CMVs is
proposed in this article. Taking into account the handling potential of
subsystems under limit conditions, a Stackelberg leader–follower game is
designed by first designating Direct Yaw moment Control (DYC) as the leader and
Active Rear Steering (ARS) as the follower. Subsequently, the DYC–ARS and Active
Suspension System (ASS) were constructed into a non-cooperative game system, and
the Nash equilibrium solution was solved through iteration. The lower-level
controllers, respectively, established a tire force distribution model that
minimizes the overall tire utilization rate and an active suspension force
distribution model that does not affect the vehicle’s pitch, in order to enhance
the safety margin of the vehicle under extreme conditions. Finally, the
Hardware-in-the-Loop test results proved the effectiveness of the proposed
controller.
