Research And Evaluation On Fault-handing Strategy For Commercial Vehicle ABS Based On HIL

With the development of modern transportation,the safety of commercial vehicle is becoming more and more important.Anti-lock Braking System(ABS)works as an active safety control technology.The ABS controller detects the wheel speed information collected by the wheel speed sensor and controls the on-off status of the intake and exhaust valve of the solenoid valve.The ABS system prevents the wheel locked and ensures the best vehicle slip rate by adjusting the pressure of the brake wheel cylinder.It is important that the pneumatic ABS system shorten the braking distance and guarantee the stability of the braking system.According to the fault happened in the using process of the anti-lock braking system,we take a deep research into the fault-handing strategy of the ABS controller and wish to provide a comprehensive testing method for commercial ABS system.The research of this paper is divided into three parts.Firstly,we need to establish a joint simulating system between Truck Sim and Simulink based on the Lab VIEW virtual environment.In this HIL system,we can realize the basic function to take a system test.Secondly,we have to complete the fault injection module to achieve fault simulation test.Thirdly,we need to do some testing experiments to evaluate the performance of the ABS controller.By analyzing the testing results,we can give some advice to the improvement of the ABS controlling strategy.In this paper,the testing experiments we take are mainly based on the self-developed pneumatic ABS HIL test bench.In this system,we set up the commercial vehicle model and take a use of post-processing function of the software in Truck Sim.And we use Simulink to establish the actuator pressure model and have curve fitting method to calibrate the model.The construction of the test bench mainly includes several parts.For example,the setting of the vehicle model,the modeling of the actuator,the establishment of the virtual environment and the integration and signal debugging of the boards in the ECU interface box.Finally,the sub-modules are integrated to form a simulation test system.And this HIL test bench meets the requirements of the performance evaluating of the ABS-ECU.Based on the analysis of the principle and structure of the ABS system,we need to analyze the fault mode in the commercial vehicle and build the fault injection module.The faults in the ABS system are complex,including the line failure and mechanical failure in the sensor and solenoid valve and the ring gear of the wheel speed sensor.In the fault injection module,we have to simulate the line failure by the FIU board and the ring gear failure by modifying the code in the MCU.Above all,we can take a complete simulation of all kinds of faults happened in the ABS system.By taking several experiments,the testing results show that the pneumatic ABS HIL system we developed meets the requirements of the evaluation to the performance of ABS-ECU.In this paper,we accurately simulate the system fault through the fault injection module.We also select several ABS-ECUs for comparison test.Under the premise of referring to domestic and foreign regulations,we have extracted some parameters to take comparison analysis to the fault handling capacity of the ECUs,by which we can improve the trouble shooting strategy of the controller.