A Hardware-in-the-Loop Simulation System Of Vehicle Electronic Stability Program Based On Driving Simulator

This thesis constructs a hardware-in-the-loop simulation system of vehicle electronic stability program based on driving simulator.Vehicle electronic stability program is a new active safety device, which improves road holding and driving safty. While in our country, it is at the beginning of the research on this filed. So studying on it has broad application prospect.After analyzing the effect and application of the technique of hardware-in-the-loop on the R&D of vehicle control systems and the software and hardware resource we have, the thesis bring forward to construct the system to provide a validation and test bench for the electronic control unit (ECU) of electronic stability program (ESP).Firstly, based on the characteristic of hardware-in-the-loop systems, the system consists of vehicle driving simulator (DS), ESP input signal simulator (EISS), braking system and monitor system.Furthermore, EISS consists of signal adapter module, controller module, actuator module and sensor module.Then the thesis analyses the time and frequency attributes of yaw velocity, lateral acceleration, wheel speed and steering wheel angle using DS's road test, then configures the software and hardware of input and output interface to input and output the state information of DS's dynamic model in real time.The EISS is designed to simulate the singal of yaw velocity, lateral acceleration and wheel speed by the motors of actuator module and sensors of module based on related physical law.The signal from EISS to ESP ECU likes the signal from the sensors that equipped on the real vehicle.The braking system is constructed preliminary to provide the real hardware actuator for the test of ESP ECU.The system uses the console Simmon32 and the monitor and communication module achieved by serial communication between PC and TMS320F2812 to monitor and control the whole system.The system can be used to test and match the commercial and self-developed ESP ECU.in addition, it can be used to analyse the characteristic of gyro sensor, lateral acceleration sensor and wheel speed sensors.