ESP Simulation Based On PID Control And Its Application In Driving Simulator

The ESP (Electronic Stability Program) is an important active safety control system of modern vehicle, On the basis of ABS and ASR, add the control to the vehicle lateral and yaw movement, through regulate and control the engine driving torque and wheels braking force to prevent the vehicle from dangerous steering situations outside of the range of the driving and control, not only realize control the vehicle are driven by the ideal path, but also to protect the driver and passengers’ safety good enough.This paper theoretically expounds the structure and basic working principle of Vehicle Electronic Stability Program, analyzed the influence of the velocity, front wheel steering angle, tire-road adhesion coefficient, front wheel steering time and tire cornering character of vehicle steering stability. Using Matlab/Simulink software to build seven degrees of freedom vehicle model based on the "Magic Formula" nonlinear tire model, and two degrees of freedom linear reference model to calculate the nominal side-slip angle and the nominal yaw velocity value. Using PID control method as the upper control, the difference value of the actual yaw velocity and the nominal yaw velocity as control variable, choose the incremental PID control algorithm to calculate the compensated torque, estimate the vehicle’s instability condition, adopt the reasonable brake pressure control strategy, the wheel braking force is obtained by the lower control and choose the proper brake wheel, realize vehicle stability control of active braking, get the vehicle simulation model of ESP. The simulation results show that the PID control method for vehicle stability control under the most condition have good control effect, prove the effectiveness of PID control method of different conditions of software simulation. Finally combine the driving simulator and ESP, complete the applications in a driving simulator and the driver in the loop simulation, visually shows the ESP in extreme conditions such as elude obstacles emergency or high-speed turning to keep vehicle stabilization steering process. Improve the function of the driving simulator, make the driving simulator more perfect on the operating stability and practical application.