Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Modeling and Control of a Hydraulic Brake Actuator for Vehcile Collision Avoidance Systems

차량 충돌 회피 시스템을 위한 유압브레이크 액츄에이터의 모델링 및 제어

  • 조영주 (한양대학교 자동차 공학과) ;
  • 하성현 (한양대학교 자동차공학과) ;
  • 이경수 (한양대학교 기계공학과) ;
  • 허승진 (국민대학교 자동차공학과)
  • Published : 2000.07.01
Download PDF
⟨ Previous Next ⟩

Abstract

mathematical models for a hydraulic brake actuator and a brake control law for vehicle collision warning/collision avoidance (CW/CA) systems will be presented in this paper. The control law have been designed for optimzied safety and comfort. A solenoid-valve-controlled hydraulic brake actuator system for the CW/CA systems has been investigated, A nonlinear computer model and a linear model of the hydraulic brake actuator system have been developed. Both models were found to represent the actual system with good accuracy. Uncertainties in the brake actuator model have been considered in the design of the control law for the roubustness of the controller. The effects of brake control on CW/CA vehicle response has been investigated via simulations. The simulations were performed using the hydraulic brake system model and a complete nonlinear vehicle model. The results indicate that the proposed brake control law can provide the CW/CA vehicles with an opimized compromise between safety and comfort.

Keywords

References

  1. Seiler, P., Song, B., and Hedrick, K., 'Development of a collision avoidance system', 98PC-417, SAE Conference, 1998
  2. Fujita, Y., Akuzawa, K., and Sato, M., 'Radar brake system', In 1995 Annual Meeting of ITS America, vol. 1, pp. 95-101, Washington D.C., March, 1995
  3. R. Goudy and S. Andrews, 'Brake control strategy for optimized safety and comfort', ITS Korea, October, 1998
  4. Gustaffson, F. 'Slip-based tire-road friction estimation', Automatica, vol. 33, no. 6, pp. 1087-1099, 1997 https://doi.org/10.1016/S0005-1098(97)00003-4
  5. Doi, A., Butsuen, T., and Niibe, T., Yakagi, T., Yamamoto, Y., and Seni, H., 'Development of a rear-end collision avoidance system with automatic braking control', JSAE Review, 15(4), pp. 335-340, October, 1994 https://doi.org/10.1016/0389-4304(94)90216-X
  6. K. Yi and T. Jeong, 'Observer based estimation of tire-road friction for collision warning algorithm adaptation', JSME Int. J. Series C, vol. 41, no. 1, pp. 116-124, 1998
  7. Yi, K., Woo, M., Kim, S., and Lee, S-C., 'A study on a road-adaptive CW/CA algorithm for automobiles using HiL simulations', JSME International Journal, Series C, vol. 42, no. 1, pp. 163-170, 1999
  8. D. B. Maciuca, 'Nonlinear robust and adaptive control with application to brake control for automated highway systems', Ph.D. Thesis, University of California at Berkeley, 1997
  9. Egon-Christian von Glasner, 'Active safety of commercial vehicles', Proceedings of AVEC'94, International Symposium on Advanced Vehicle Control, pp. 9-14, 1994
  10. ITS America, 'Collision warning system', 1996
  11. D. Cho, and J. K. Hedrick, 'Automotive powertrain modeling for control', ASME, 1989
  12. Goldman, D. E., and von Gierke, H. E. Chapter 44 in Shock and Vibration Handbook, Cyril M. Harris(ed), McGraw-Hill Book Company, 3rd edition, 1988