基于剩余碰撞时间的线控制动分层控制策略  

Layered control strategy of brake-by-wire based on residual collision time

作　　者：童叙 王宇宁[1,2,3,4] 关艺博 田韶鹏[1,2,3,4] 吴桐 TONG Xu;WANG Yuning;GUAN Yibo;TIAN Shaopeng;WU Tong(Hubei Key Laboratory of Modern Automobile Parts Technology,Wuhan University of Technology,Wuhan,Hubei 430070,China;Hubei Collaborative Innovation Center for Automotive Parts Technology,Wuhan University of Technology,Wuhan,Hubei 430070,China;Hubei New Energy and Intelligent Network Interconnection Engineering Technology Research Center,Wuhan University of Technology,Wuhan,Hubei 430070,China;Foshan Xianhu Laboratory,Wuhan University of Technology,Foshan,Guangdong 528200,China)

机构地区：[1]武汉理工大学现代汽车零部件技术湖北省重点实验室,湖北武汉430070 [2]武汉理工大学汽车零部件技术湖北省协同创新中心,湖北武汉430070 [3]武汉理工大学湖北省新能源与智能网联车工程技术研究中心,湖北武汉430070 [4]武汉理工大学佛山仙湖实验室,广东佛山528200

出　　处：《江苏大学学报（自然科学版）》2025年第1期28-35,63,共9页Journal of Jiangsu University：Natural Science Edition

基　　金：广西重点研发计划项目(桂科AA22068063);佛山仙湖实验室开放基金资助项目(41200303)。

摘　　要：针对不同制动工况需求的制动策略存在差异的情况,提出一种线控制动分层控制策略.在该分层策略的上层,利用二阶TTC安全碰撞时间模型计算出车辆与前车的剩余碰撞时间,以此作为依据进行制动策略的选取,并建立了汽车二自由度模型、车身法向受力模型和Burckhardt轮胎模型;在该分层策略的下层,进行了制动力在轮间的分配,使用序列二次规划(SQP)方法,分别在一般制动、紧急制动、失稳制动3种工况下,以轮胎滑移率为对象建立优化函数,对车辆制动力进行了优化分配.使用MATLAB/Simulink和Carsim进行了联合仿真,对所提出3种工况下的制动分配策略进行了有效性验证.结果表明:在一般制动工况下,采用该策略时相比对照工况制动距离减少18.08%,制动时间减少25.12%;在紧急制动工况下,采用该策略时相比对照工况制动距离减少19.17%,制动时间减少12.79%;在失稳制动工况下,该策略可通过轮胎差扭来提升车辆的横向稳定性.采用文中制动策略显著提升了车辆的制动效能.According to the different braking strategies required by different braking conditions,the layered brake-by-wire control strategy was proposed.At the top layer,the residual collision time between the vehicle and the vehicle in front was calculated by the second-order TTC safety collision time model,which was used as basis for the selection of braking strategy.The vehicle two-degree freedom dynamic model,the car body normal force model and the Burckhardt tire model were established at the top layer.At the low level,the braking force was distributed among the wheels.By the sequential quadratic programming(SQP),the vehicle braking force was optimized by establishing an optimization function based on the tire slip rate under general braking,emergency braking and unstable braking conditions,respectively.MATLAB/Simulink and Carsim were used to carry out the joint simulation,and the braking distribution strategy under the three working conditions was verified respectively.The results show that the braking distance and braking time are reduced by respective 18.08%and 25.12%under normal braking conditions,while the braking distance and braking time are reduced by respective 19.17%and 12.79%under emergency braking conditions.Under unstable braking conditions,the proposed strategy can improve the lateral stability of the vehicle through tire differential twist.The proposed braking strategy can significantly improve the braking efficiency of the vehicle.

关 键 词：线控制动 制动力优化分配 分层控制 序列二次规划方法 ECE法规 制动仿真 滑模控制 碰撞时间 

分 类 号：U461.6[机械工程—车辆工程]