Research On Automotive Electronic Stability Control System Based On STM32

Electronic Stability Program (ESP) is a vehicle dynamic control system which canimprove the handling and stability of vehicle. It is a new type of vehicle active safetysystem which is developed based on the Anti-locked Braking System(ABS) and theAcceleration Slip Regulation(ASR). It can analyze and control vehicle behavior inaccordance with the driver’s intention，road conditions and vehicle driving state to preventcritical situations and improve handling and stability of vehicle and driving safety moreeffectively and more remarkably． This paper will carry on the development of vehicleelectronic stability program.First, with reference to the domestic and abroad research theory and experimentalresult on electronics stability control system, the vehicle dynamics simulation models areestablished by MATLAB/Simulink, including the seven degrees of freedom vehicle model,the Dugoff tire model and the vehicle reference model of two degrees of freedom. Second,the reasons for the instability of the vehicle are analyzed and the control methods of thevehicle stability are introduced. The fuzzy PID algorithm is used in the control accordingto the control requirements of ESP. The combined fuzzy-PID controller is designed byusing the yaw rate and the sideslip angle as input variables and using the compensatingyaw moment as the output variables. A simulation analysis of handling and stabilityperformance is made on the model of steering sin input.In the finally end, the32bit ARM microprocessor STM32F103VET6is chosen as thecontroller of ESP. The hardware and software are designed and developed based on thefuzzy-PID algorithm. According to the real-time requirements of ESP, the tool ofMATLAB/RTW and xPC Target real-time simulation system are used to build thehardware in the loop simulation platform, and the simulations are analyzed. This methodprovides a fast-saving route for the development of the electronic control unit(ECU) ofESP.