This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Control of Brake- and Steer-by-Wire Systems During Brake Actuator Failure
Technical Paper
2006-01-0923
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
In this paper a method of mitigating the consequences of potential brake actuator failure in vehicles with brake-by-wire (BBW) and possibly with steer-by-wire (SBW) systems is described. The proposed control algorithm is based on rules derived from general principles of vehicle dynamics. When a failure of one actuator is detected, the algorithm redistributes the braking forces among the remaining actuators in such a way that the desired deceleration of vehicle is followed as closely as possible, while the magnitude and the rate of change of the yaw moment caused by asymmetric braking are properly managed. When vehicle is equipped with BBW system only, or when the desired deceleration can be obtained by redistributing of braking forces, without generating an undesired yaw moment, no steering correction is used. Otherwise, a combination of brake force redistribution and steering correction (to counter the yaw moment generated by non-symmetric braking) is applied.
The proposed algorithm is tested using a high fidelity vehicle model, in which the traditional brake and steering systems are replaced by their by-wire counterparts. Results of simulations demonstrate that during brake failure, the vehicle with the proposed algorithm enabled follows the desired deceleration more closely, helping to reduce the stopping distance. More importantly, dramatic reductions in the lateral path deviation and undesired yaw rate of vehicle are achieved.
Recommended Content
Authors
Topic
Citation
Hac, A., "Control of Brake- and Steer-by-Wire Systems During Brake Actuator Failure," SAE Technical Paper 2006-01-0923, 2006, https://doi.org/10.4271/2006-01-0923.Also In
References
- Pisu, P. Rizzoni, G. Soliman, A. Amberkar, S. Murray, B. Jalics, L. “Model Based Diagnostics for Vehicle Systems” 2000 Proceedings of The 2000 International Mechanical Engineering Congress & Exposition Orlando, FL.
- “Brake System Control Method Responsive to Measured Vehicle Acceleration” 2000 Sept. 26 2000
- Gustafsson, F. 1996 “Estimation and Change Detection of Tire-Road Friction Using the Wheel Slip” 1996 Proceedings of the 1996 IEEE International Symposium on Computer-Aided Control System Design Dearborn, MI.
- “Method and Apparatus for Determining an Individual Wheel Surface Coefficient of Adhesion” 2003 April 15 2003
- Ray, L. R. 1995 “Nonlinear State and Tire Force Estimation for Advanced Vehicle Control” IEEE Transactions on Control Systems Technology 3 1 March 1995
- Bosch's Automotive Handbook 3rd 1993
- Reimpell, J. Stoll, H. “The Automotive Chassis. Engineering Principles” SAE, Inc. Warrendale, PA.