EPAS Fail-Safe Control using Differential Braking

Kissai, Moad; Mouton, Xavier; Monsuez, Bruno

doi:10.1016/j.trpro.2021.01.035

Cited by 4 publications

(1 citation statement)

References 10 publications

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“…The increasing complexity of vehicle electromechanical structure functions also increases the possibility of system failure and malfunction, and it is challenging to realize redundancy for some critical components due to space and cost constraints. If the EBS actuator is damaged or malfunctions, it may result in decreased braking performance of the vehicle or may even make the vehicle less stable, increasing the risk of accidents [9]. Ensuring the stability and safety of a vehicle becomes a challenge when the actuator of the EBS fails in an intelligent commercial vehicle.…”

Section: Introductionmentioning

confidence: 99%

Research on Path Tracking Fault-Tolerant Control Strategy for Intelligent Commercial Vehicles Based on Brake Actuator Failure

Cui,

Bao,

Guo

et al. 2024

Actuators

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With the development of safety technologies for intelligent commercial vehicles, electronic pneumatic braking systems (EBSs) have been widely used. However, EBS actuators may fail during vehicle operation and thus create safety problems. For this reason, we propose a path-tracking fault-tolerant control strategy under EBS actuator failure in intelligent commercial vehicles. First, in order to be able to characterize different types of brake actuator faults during the EBS differential braking process of a vehicle, a comprehensive fault coefficient for calculating the degree of fault is designed, and a BES generalized fault model is established. Second, the faults are introduced into the fault-tolerant controller through the comprehensive fault coefficients for braking torque calculation and braking pressure allocation. Thus, a vehicle path model with the complete fault coefficients as variable parameters is established. Then, based on the LPV system gain scheduling, a path-tracking LPV/H∞ fault-tolerant controller under EBS actuator faults in commercial vehicles is designed, which is used to solve the safety problem arising from sudden EBS actuator faults. Finally, we conducted experimental validation through hardware-in-the-loop tests. The results demonstrate that the control strategy designed in this paper redistributes the braking torque and synergizes with the steering system to enhance vehicle stability, thereby improving vehicle safety in the EBS failure mode.

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Section: Introductionmentioning

confidence: 99%

Research on Path Tracking Fault-Tolerant Control Strategy for Intelligent Commercial Vehicles Based on Brake Actuator Failure

Cui,

Bao,

Guo

et al. 2024

Actuators

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Road Friction Adaptive Lateral Control of Automated Vehicles with Differential Braking

Iatropoulos,

Ahrenhold,

Salzwedel

et al. 2024

Lecture Notes in Mechanical Engineering

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Differential braking offers a promising approach to ensure lateral control of automated vehicles in the event of steering actuator failure. Braking interventions induce longitudinal forces on the wheel, which influence the vehicle’s yaw motion and thus enable lateral control along a given trajectory. Within the scope of this paper, a road friction adaptive system for lateral vehicle control by differential braking on a dry, wet, snow- and ice-covered road is derived simulatively. The investigated friction coefficient adaption is implemented by a variable path planning and calculated on the basis of an estimated road friction coefficient. The driving situation considered is based on the severe lane-change maneuver according to ISO 3888-2 for the investigation of vehicle dynamics and road-holding ability. The limitation of the trajectory results from the maximum yaw rate and expands the trajectory’s length for the different road friction coefficients.

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