Vehicle longitudinal brake control using variable parameter sliding control

摘要

A modified sliding control with variable control parameter was introduced to reduce the large change of pressure feedback in the hydraulic brake control process of automated highway vehicles. An average decay function was used to smooth both high and low frequency oscillations of the desired diaphragm force and output force in the vacuum booster to remedy the oscillations generated by using the pushrod force as the end-brake control. Simulation results indicate that the variable parameter sliding control significantly reduces the speed and space tracking errors in the large brake processes, and the errors experienced during these processes are dominated by the large brake pressure lag rather than the switching delay time between throttle and brake.