ABSTRACT
In order to improve vehicle stability during critical situations at high speeds, a multi-objective cooperative control strategy is proposed with an Electro Hydraulic Brake (EHB). Taking the longitudinal, lateral, yaw, and roll motion into consideration, a four degree of freedom vehicle model is presented. As the actuator used to produce braking torque, the EHB is modeled and verified by experiments on a test bench. The yaw rate is used to design a yaw stability control strategy, and the Dynamic Rollover Index is presented to describe the vehicle rollover stability. Then, the LQR method is applied to design a multi-objective cooperative control strategy for vehicle yaw and roll stability. Also, the performance of the control strategies are analyzed by several typical case simulations, such as J-turn, fishhook and double lane change. The results show that the multi-objective cooperative control strategy for vehicle stability with the EHB can effectively reduce vehicle rollover risk and significantly improve the yaw stability of the vehicle.
