Research On Characteristic Test And Control Algorithm Of Electronic Braking System For Commercial Vehicle

Commercial vehicles are characterized by long wheelbase and large load.Compared with passenger vehicles,their braking distance is longer.In addition,traditional commercial vehicles use pneumatic brake,and their transmission medium is compressed air,which has a certain hysteresis characteristic in the transmission process,resulting in a certain delay in the establishment and release of pressure in the brake pipeline,which affects the braking efficiency of commercial vehicles.Electronic Braking System(EBS),as an advanced electronic brake product,can effectively improve the driving safety,stability and reliability of commercial vehicles,while reducing the maintenance costs and failure rates.EBS integrates components such as sensors,control units and actuators,which can quickly and accurately control the braking force of the vehicle and reduce the braking distance,thereby improving braking efficiency and safety.EBS can be integrated with other vehicle systems,such as the Autonomous Emergency Braking(AEB)system,due to the chassis-by-wire technology.With the rapid development of the transportation industry and the high attention to traffic safety,the importance of EBS for commercial vehicles has become more and more prominent,and has gained widespread attention,but some key technologies still need further research.For this,this paper is based on the science and technology project of Jilin Provincial Department of Education,"Research on decision-making and control strategy of automatic lane change of X-by-Wire vehicle in intelligent transportation environment"(project number: JJKH20231148KJ).On the basis of investigating the research status of EBS for commercial vehicles at home and abroad,this paper researches the characteristic test and control algorithm of commercial vehicle EBS,mainly including analyzing and testing the valve body characteristics of commercial vehicle EBS,and establishing EBS and vehicle dynamics model.Then,on this basis,algorithms such as braking force distribution control are designed,and AEB control algorithms are developed based on EBS.Finally,the researched control algorithm is tested and verified through the offline simulation platform and the hardware-in-the-loop experimental platform.The main work of this paper is as follows:(1)EBS dynamic modeling and simulation testing.First,a commercial vehicle EBS dynamic model is established based on Amesim software,including brake signal sensor,single-channel bridge control module,antilock brake system(ABS)solenoid valve and dual-channel bridge control module.Then,test characteristics such as steadystate and dynamic response of a production-grade EBS component.Finally,the established EBS model is verified and analyzed under typical working conditions to ensure the accuracy of the model to meet the needs of subsequent research.(2)Research on EBS control algorithm.First,the vertical load of the wheel is estimated based on the Unscented Particle Filter(UPF)algorithm.On this basis,a braking force distribution control algorithm based on dynamic load is designed,and multi-objective feedback control such as deceleration control is introduced,so that the vehicle can make full use of the road surface adhesion conditions and improve the braking effect.In addition,through the deceleration control,the vehicle can be braked at the same deceleration when the driver depresses the same pedal opening under different loads,thereby reducing the driver’s driving pressure.Finally,by setting different typical working conditions,the control algorithm is tested and verified based on multi-software co-simulation and hardware-in-the-loop test bench.(3)Research on AEB control algorithm based on EBS.Firstly,the braking process is analyzed according to the response characteristics of the commercial vehicle braking system,and the safety distance model and the Time To Collision(TTC)model in the traditional AEB control algorithm are studied.Then,based on the EBS model established above,an algorithm model based on time-distance index is proposed,and the function of AEB is realized through the control algorithm of multi-level braking and the EBS braking force distribution control algorithm.Finally,the effectiveness of the AEB control algorithm is verified and analyzed through software co-simulation.(4)Construction and testing of the hardware-in-the-loop test bench.First,build the EBS hardware-in-the-loop test bench,including three modules: hardware part,software part and real-time system.The hardware part includes test benches,driving simulators and EBS components,etc.The software part includes Truck Sim,MATLAB and Lab VIEW software for the simulation of commercial vehicle dynamic models and the development of control algorithms;the real-time system includes Micro Auto Box and NI-PXI chassis,used for data acquisition and real-time simulation,etc.Then,by designing different working conditions,the performance test of the valve body is carried out on the basis of the test bench,and the control algorithms such as braking force distribution are experimentally verified.