Abstract: The X-by-wire chassis has overturned the mechanical chassis configuration of traditional vehicles. It has significant advantages such as high control accuracy, fast response speed, and multiple functional expansion. It is a key execution carrier for advanced assisted driving and intelligent driving. In view of the problems of low electrification and wire control levels of vehicle chassis and poor collaborative control capabilities, a vehicle electro-hydraulic X-by-wire chassis configuration integrating electro-hydraulic composite steering and electro-hydraulic composite braking is proposed, and a direct yaw torque and active steering game optimization framework of the electro-hydraulic X-by-wire chassis is established. The multi-objective collaborative control problem in vehicle trajectory tracking is transformed into an optimal control problem based on non-cooperative Nash game. In view of the optimal control problem of the X-by-wire chassis under the coupling of control objectives and overdriven heterogeneous actuators, the adaptive dynamic programming and differential game theory are integrated to propose a game tracking control algorithm based on the dual heuristic architecture for the X-by-wire chassis adaptive dynamic programming game tracking control based on adaptive dynamic programming(G-ADP). The execution network matching the optimal controller is obtained through back-propagation neural network training, so that the performance indicators of the X-by-wire chassis game system reach Nash equilibrium. The hardware-in-the-loop test results show that the proposed G-ADP algorithm can reduce the tracking error and effectively improve the vehicle stability under the single-line change and sinusoidal reference trajectory test conditions with different adhesion coefficients.

Key words: X-by-wire chassis, game optimization control, adaptive dynamic programming, neural networks, trajectory tracking