ABS control method based on simulation prediction

Abstract

The invention relates to the field of automobile emergency braking, and discloses an ABS control method based on simulation and prediction, according to an algorithm for realizing ABS control by utilizing an MPC method, the algorithm performs vehicle parameter estimation, road surface identification and prediction and pressure distribution relay control through a 7-degree-of-freedom model. According to the method, on a single road surface, optimal combined control of safety and comfort of ABS braking can be achieved. And on other road surfaces, optimal combined control of safety and controllability can be realized. And in the aspect of safety, through control over the optimal slip rates of different road surfaces, optimal pressure control over a brake chamber is achieved, overshoot is avoided, the long pressure reduction process in the ABS braking process is reduced, and the braking distance is shortened as much as possible. And in the aspect of comfort, the optimal pressure is realized in a range with relatively small pressure change, and the longitudinal deceleration change rate is controlled in an acceptable range. In the maneuverability aspect, the steering wheels with small split road surfaces can be corrected by controlling yawing motion caused by inconsistent braking force on the left side and the right side.

Description

technical field [0001] The invention belongs to the field of emergency braking of automobiles, and in particular relates to an ABS control method based on simulation prediction. Background technique [0002] The anti-lock braking system (ABS) is widely installed in modern vehicles. By controlling the slip rate of the wheels within a certain range, it can make full use of the adhesion between the tires and the road surface, exert the braking performance of the brakes, shorten the braking distance, and improve the performance of the vehicle. directional stability. [0003] WO2004078544A2 describes an anti-lock braking method using continuous slip ratio control. This method is based on the threshold value of the optimal slip ratio in the instantaneous driving of the vehicle, and the slip ratio of the maximum adhesion coefficient is obtained by calculation. By setting the maximum slip ratio The threshold value of the slip rate is used to decompress, maintain, and pressurize the...

AI Technical Summary

Problems solved by technology

As an effective control method to deal with nonlinearity and robustness, sliding mode control still relies on the mathematical model required for control. When the dynamic characteristics are not modeled or the disturbance is too large, the tracking response speed of the slip rate and the braking The high-frequency vibration of the torque restricts its application

Model predictive control requires real-time matrix inversion operation, and the amount of calculation is large, which limits the application of this method

At the same time, with the improvement of people's requirements for the safety and comfort of commercial vehicles, it is difficult to ensure the safety, comfort and manipulative

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