Adaptive robust sliding mode control for AEB considering road adhesion condition constraint

Abstract

Road adhesion condition is one of the key factors affecting the control effect of active emergency braking system (AEB), and emergency braking decision and slip rate tracking control are restricted by road adhesion condition. In this paper, an improved automatic emergency braking control method is proposed, which takes into account the constraints of road adhesion conditions. Firstly, a method of road adhesion coefficient recognition is established, which combines the database of road friction parameters with visual recognition algorithm to obtain the road adhesion coefficient. Secondly, a dynamic emergency braking distance model is established, which takes into account the road adhesion conditions and the motion state of vehicles and targets, so as to dynamically adjust the emergency braking decision distance. Then, considering the constraint of road adhesion coefficient on braking torque, a slip rate adaptive robust sliding mode controller with dynamic input constraint is designed. The input saturation boundary of the controller can be dynamically adjusted with different road adhesion conditions, and the dynamic compensation control for input saturation of the system is realized. Finally, the simulation experiments are carried out under different emergency braking conditions. The results show that the proposed method is deemed more consistent with the practicalities and demonstrates excellent braking performance and robustness.

Keywords

AEB adhesion coefficient emergency braking distance dynamic saturation boundary adaptive robust sliding mode control

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