Research on the Coordination Control of Vehicle EPS and ABS

Based on the multibody dynamics model of Electric Power Steering System(EPS) and the lateral and longitudinal dynamics vehicle model, the EPS and Anti-lock Braking System (ABS) sub-controllers and the coordination controller are respectively designed according to the motion coupling relation between the steering system and the braking system. The coordination controller supervises and coordinates each sub-controller as the upper controller. The simulation under Madab and the vehicle test with hardware-in-the-loop(HIL) based on LabVIEW have evaluated, tested and verified the vehicle maneuverability and braking performance under coordination control. The results show that the coordination control effectively improved the comprehensive performance of vehicle, and the application of multibody dynamics model and hardware-in-the-loop test were convenient and feasible in the coordination control research of vehicle chassis.