Experimental Research On Vehicle ESP Control And Hardware-in-the-Loop Under Special Road Conditions

During the construction process of expressways,the objectively existing special sections such as long downhill slopes and S-shaped curves are the frequent occurrence points of traffic accidents.Improving the stability of vehicles on special roads can effectively reduce the occurrence of traffic accidents.At present,there are few studies on active safety control of vehicles on special roads.At the same time,in order to study the driving conditions and vehicle dynamics indicators on special roads of expressways Law of change.In this paper,an important safety technology in vehicle stability control,the Electronic Stability Program(ESP),is applied to the research on the handling stability control of heavy-duty vehicles to enhance the handling stability of heavy-duty vehicles at special sections and further improve Active safety of heavy-duty cars at special sections.First,the ideal two-degree-of-freedom vehicle model is used to obtain the steady-state characteristics of the vehicle during steering,and this is taken as the target control amount of the ESP controller of the heavy-duty vehicle.In addition,a three-degree-of-freedom heavy-duty vehicle dynamics model was established,and the braking force distribution rules were incorporated into the vehicle model.An algorithm capable of real-time braking force distribution based on the vehicle's motion state was proposed,and the heavy-duty vehicle was implemented based on real-time demand.Control of additional yaw moment.In order to further improve the accuracy of the control model,a three-axis heavy-duty vehicle multi-body dynamics model was established in TruckSim based on actual vehicle parameters,and special road sections on the Yanchong Expressway were selected to establish a three-dimensional road model.Secondly,in order to improve the driving safety of heavy-duty vehicles at special sections,further study the operating conditions of three-axle heavy-duty vehicles and the change laws of vehicle dynamic parameters in actual highways.The driving safety of the special section of road is analyzed.The change laws of thevehicle motion parameters of the three-axle heavy-duty vehicle when driving on the S-curve road section,the stagnant water section and the crosswind section are obtained,and the areas that need to be improved in the ESP are pointed out and applied to the control model.Then,based on the three-axle heavy-duty vehicle dynamics model and the traditional automobile ESP control strategy,a PID controller,fuzzy controller,and fuzzy PID controller were designed to adjust the vehicle's handling stability at special road sections,and an open road was established.Faced with the built controllers for comparative testing,the optimal controller was selected and the control strategy and ESP control model suitable for heavy-duty vehicles were proposed.The control model is divided into upper and lower layers.The upper controller executes targets for yaw rate and center-of-mass deflection under steady-state steering of heavy vehicles.The lower controller executes targets for wheel braking signals to modify the vehicle state and improve the vehicle Stability of operation.Finally,in order to verify the feasibility and effectiveness of the proposed control algorithm,a road model was built on the special road section of Yanchong Expressway according to the actual road parameters on a three-axis heavy-duty vehicle electronic control comprehensive test experimental bench.The control model was tested in hardware-in-the-loop.The experimental results show that the ESP control model of the heavy-duty vehicle constructed in this paper can effectively improve the handling stability of the heavy-duty vehicle when driving on special sections,increase the driving safety of the vehicle,and have certain hardware feasibility.