Lateral and longitudinal combined vehicle dynamic controller for caliper integrated electrical parking brake system (Ci-EPB)

摘要

This paper aims to design a lateral and longitudinal combined vehicle dynamic controller to improve the dynamic performance of a caliper integrated electrical parking brake (Ci-EPB) system. Ci-EPB is an electrical system having motors inside each rear clipper to generate the clamping force in parking brake and emergence brake. Since the system provide the clamping force individually at rear wheels, beside the anti-lock function, it could add additional yaw moment to improve the lateral dynamics during emergence brake maneuvers. The algorithm is developed to regulate the vehicle body yaw rate by changing the slip ratio at each rear wheels. The control aim is to trace the desired yaw rate and utilize the maximum brake force which could be provided by ground. The controller gain matrixes are scheduled on the vehicle speed at local operation point, and the motor's power consider as constrain. The simulation result shows the high performance and robustness of the designed controller are achieved.