He, X., Yang, K., Ji, X., Liu, Y. et al., "Research on Vehicle Stability Control Strategy Based on Integrated-Electro-Hydraulic Brake System," SAE Technical Paper 2017-01-1565, 2017, doi:10.4271/2017-01-1565.
A vehicle dynamics stability control system based on integrated-electro-hydraulic brake (I-EHB) system with hierarchical control architecture and nonlinear control method is designed to improve the vehicle dynamics stability under extreme conditions in this paper. The I-EHB system is a novel brake-by-wire system, and is suitable to the development demands of intelligent vehicle technology and new energy vehicle technology. Four inlet valves and four outlet valves are added to the layout of a conventional four-channel hydraulic control unit. A permanent-magnet synchronous motor (PMSM) provides a stabilized high-pressure source in the master cylinder, and the four-channel hydraulic control unit ensures that the pressures in each wheel cylinder can be modulated separately at a high precision. Besides, the functions of Anti-lock Braking System, Traction Control System and Regenerative Braking System, Autonomous Emergency Braking can be integrated in this brake-by-wire system. A sliding mode variable structure vehicle dynamics stability controller based on hierarchical control framework is built in MATLAB/Simulink. The I-EHB actuator model and vehicle dynamic model with 15 degrees of freedom are built in simulation package AMESim through a parameterized and modularized method. Simulations are conducted via co-simulation platform using MATLAB/Simulink and AMESim under scenarios of the typical braking and NHTSA FMVSS 126 standard-Sine With Dwell. Simulation results show that hydraulic braking forces are coordinated well during typical braking process, verifying the feasibility and effectiveness of the models built and the control strategy proposed. Under Sine With Dwell maneuver, compared with the base systems equipped without/with the conventional ESP, the proposed stability control system has a good improvement on the vehicle dynamics.