Automatic emergency braking/anti-lock braking system coordinated control with road adhesion coefficient estimation for heavy vehicle

被引：17

作者：

Shaohua, Li ^{[1
]}

Guiyang, Wang ^{[2
]}

Hesen, Wang ^{[2
]}

Lipeng, Zhang ^{[3
]}

机构：

[1] Shijiazhuang Tiedao Univ, State Key Lab Mech Behav & Syst Safety Traff Engn, Shijiazhuang, Hebei, Peoples R China

[2] Shijiazhuang Tiedao Univ, Sch Mech Engn, 17 East North Second Ring Rd, Shijiazhuang 050043, Hebei, Peoples R China

[3] Yanshan Univ, Hebei Key Lab Special Delivery Equipment, Qinhuangdao, Hebei, Peoples R China

来源：

IET INTELLIGENT TRANSPORT SYSTEMS | 2022年 / 16卷 / 11期

基金：

美国国家科学基金会;

关键词：

SLIDING-MODE CONTROL; WHEEL SLIP; PREDICTIVE CONTROL; CONTROL STRATEGY; DESIGN;

D O I：

10.1049/itr2.12229

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

The road adhesion coefficient is a key factor influencing automatic emergency braking (AEB) and anti-lock braking system (ABS) safety control of trucks. With the fading factor introduced, and the covariance gain adjusted in real time, the strong tracking unscented Kalman filter (STUKF) algorithm is modified to estimate the road adhesion coefficient more accurately. Composed of an ABS fuzzy sliding mode controller (SMC) and an AEB controller, an AEB/ABS coordinated control strategy with an adhesion coefficient estimation is designed for a three-axle heavy vehicle. The control effects are verified through experiments on various road conditions based on a hardware-in-loop test platform. The test results show that the proposed control strategy has a better braking efficiency than the traditional AEB/ABS and AEB control strategy without adhesion coefficient estimation and can decrease braking distance by 8.4% and braking time by 5.9%, which is beneficial to the vehicle longitudinal safety.

引用

页码：1521 / 1534

页数：14

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