Development Of ESP Hardware-in-the-Loop Simulation Test Bench Based On Real-time Platform

Vehicle Electronic Stability Program (ESP) is a new active security control system,which is developed based on vehicle Anti-lock Brake System (ABS) and Traction ControlSystem (TCS). It has the function of generating interventions to vehicle engine and brakesystem actively by observing the driver’s intention, the road information and the estate ofvehicle, to help controlling the vehicle. Especially in the limited conditions, ESP will preventvehicle from dangerous situation. This can enhance the vehicle handling stability and drivingsafety more effectively and distinctly. The process of development of ESP product is complexand long-term work. Hardware-In-the-Loop (HIL) technique has been an important method ofdevelop ESP product gradually. Using the ESP HIL test bench will reduce times of road testand ensure the manipulator to be safe. It also saves the money and shortens the period ofR&D. It has no doubt it is an effective method to develop ESP quickly.This dissertation, based on study the experiences and achievement of vehicle ESP HILtest bench, at home and abroad, choose one section of the demostic A-Class car as the targetmodel, designed ESP hardware in the loop simulation test bench overall build program.According to program, choose appropriate hardware, do the matching, complete hardwaresystem construction. Established15degrees of freedom vehicle model based on veDYNAsoftware. Through analysis of the state of the vehicle stability, determined to maintain vehiclestability control of the state variables and control methods: yaw rate and sideslip angle iscontrol objectives, the application of PID and logic threshold control method, based onMATLAB/Simulink built ESP controller model. Connect ESP controller model and vehiclemodel, then complete the construction of software part. This paper, respectively for high andlow adhesion coefficient condition, designed ESP evaluation tests, compare the vehicle majorstate parameters test results, through the analysis of test results, verify the ESP hardware inthe loop test bench actual work results practicality and reliability, while recognizing thevalidity of the ESP controller model.