Authors: Chong Feng; Nenggen Ding; Yongling He; Wen Chen
Addresses: School of Transportation Science and Engineering, Beihang University, Beijing, 100191, China ' School of Transportation Science and Engineering, Beihang University, Beijing, 100191, China ' School of Transportation Science and Engineering, Beihang University, Beijing, 100191, China ' Division of Engineering Technology, Wayne State University, Detroit, MI 48202, USA
Abstract: Braking control on a μ-split road is not an easy task. An integrated control (ITC) algorithm is proposed by combining antilock braking system (ABS), direct yaw-moment control (DYC) and active front steering (AFS). The algorithm is intended for maximising the utilisation of road friction while maintaining directional stability of a vehicle during emergency braking on a μ-split road. A three-layer hierarchical control architecture is developed for the ITC. The upper-layer controller is used for DYC to generate a desired yaw moment, allocation of the moment to ABS and AFS is handled by the intermediate-layer controller, and two control algorithms are designed at the lower-layer for ABS and AFS, respectively. The performance of the ITC is compared with a modified independent control (MIC) algorithm via hardware-in-the-loop (HIL) simulations. The results show that the braking performance and stability of the vehicle are improved by employing the ITC algorithm.
Keywords: integrated control; ABS; antilock braking systems; DYC; direct yaw-moment control; AFS; active front steering; braking performance; vehicle stability; vehicle design; braking control; road friction; directional stability; emergency braking; hardware-in-the-loop; HIL simulation.
International Journal of Vehicle Design, 2015 Vol.67 No.3, pp.259 - 293
Available online: 18 May 2015 *Full-text access for editors Access for subscribers Purchase this article Comment on this article