應用於線控車輛的牽引力控制和防鎖死煞車策略開發與硬體在環測試驗證

線控車輛(X-by-wire Vehicle)為自駕技術關鍵之一，利用電子訊號取代傳統車輛油門踏板等機械結構，能更有效率的實現自動駕駛。為了滿足國內安全法規並確保自動駕駛的安全性，本研究發展一套應用於線控車輛的防鎖死煞車與牽引力控制系統，避免車輪產生空轉或鎖死的現象，並使線控車輛的加減速性能進一步提升。本研究首先根據輪速訊號與加速度訊號估測輪胎縱向力、整車重量、車身速度、輪胎滑差等控制器所需訊號，以此為基礎發展TCS與ABS控制策略，前者TCS利用最大可傳遞力矩估測(MTTE)限制馬達輸出扭力避免驅動輪空轉，並且會通過PI回授控制修正估測誤差，後者ABS利用模糊控制技術控制煞車油壓避免輪胎鎖死並最大化煞車性能。在ABS與TCS性能驗證方面首先利用dSPACE ASM 整車模型進行模型在環驗證(MiL)，確認控制方法的可行性。接著架設動力系統與煞車系統硬體測試平台，同時整合控制策略、車輛模型、線控硬體進行硬體在環測試驗證(HiL)。由測試結果可以證明本研究發展的TCS與ABS能有效提升車輛加減速性能，且滿足國內相關安全法規的要求。

關鍵字

防鎖死煞車系統；牽引力控制系統；模糊控制；硬體在環測試驗證；線控煞車；線控驅動；駕駛輔助系統

並列摘要

X-by-wire vehicle is the key of self-driving technology. It replaces tradtional accelerator and braking pedals with electronic signal, which can help self-driving system to control the vehicle more effeciency. In order to ensure the safety of self-driving on X-by-wire vehicle, this research develops Anti-lock Braking System (ABS) and Traction Control system (TCS) for X-by-wire vehicle. ABS and TCS can avoid idling or locking of the wheels, and improve the braking and acceleration performance for X-by-wire vehicle. Therefore, a traction control and anti-lock braking system based on estimated vehicle speed, tire force, and wheel slip from wheel speed signal is proposed in this research. The proposed traction control system uses Maximum Trassimisble Torque Estimation technology to limit the motor output torque, and a PI feedback control is proposed to correct the error of torque estimation. The proposed anti-lock traction control system controls the braking pressure with fuzzy logic controller. The first step to test ABS and TCS performance is using dSPACE Automative Simulation Model to execute a Model-in-the-Loop Test (MiL). After finishing MiL, we built a powertrain and brake system test platform, which can integrate ABS, TCS and dSPACE Automative Simulation Model to execute a Hardware-in-the-Loop Test (HiL). The test result shows that the proposed ABS and TCS can improve the acceleration and braking performance, and can satisfy the vehicle safety regulation in Taiwan.

並列關鍵字

anti-lock braking system ； traction control system ； fuzzy control ； brake-by-wire ； drive-by-wire ； hardware-in-the-loop ； advanced driver. assistance systems

參考文獻

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