Application of the Brake by Wire System for Adaptive Cruise Control System 蘇耿毅、張一屏
E-mail: [email protected]
ABSTRACT
This study established the integration technology and methodology for vehicle Adaptive Cruise Control (ACC) active brake control subsystems. Experimental data including the brake pedal position and force, master and slave cylinder pressure and travel were incorporated to build and to validate the active brake system dynamic model developed by object oriented software
Matlab/SimulinkR. The brake system dynamic simulation model was integrated to the vehicle longitudinal dynamic program to calculate the vehicle deceleration response to the active brake and driver brake command. The slave cylinder brake pressure from each wheel simulated and measured can then be used to calculate the resulting brake force and the corresponding vehicle
deceleration which can be later validated. The developed vehicle dynamic model considered the variation of brake force of the front and rear wheels in ACC vehicle. Since the ACC system requires vehicle follow the preceding vehicle with a safe distance on either straight line or turning drive condition, the active brake and radar signal must integrated to assure their performance can satisfy the requirement of ISO 15622 ACC system standard. This integration methodology can reduce the time and expanse for establishing the research and development capacity for ACC system and active brake controller thus increase the vehicle safety and reliability.
Keywords : Adaptive Cruise Control, Brake by wire, Active Brake Control Table of Contents
中文摘要 ...iv ABSTRACT ...v 誌謝 ...vi 目錄
...vii 圖目錄 ...x 表目錄 ...xvi 符號說明 ...xvii 第一章 緒論 ...1 1.1 前言 ...1 1.2 文獻回顧 ...3 1.2.1 智慧型車輛文獻 ...4 1.2.2 煞車系統相關文獻 ...12 1.3 研究動機 ...14 1.4 本文架構 ...15 第二章 研究方法 ...17 2.1 煞車系統概要 ...17 2.1.1 不同迴路煞車系統 ...17 2.1.2 傳統 煞車系統與線傳煞車系統介紹 ...19 2.2 實驗相關設備 ...20 2.3 運用系統識別理論建立煞車系統模型 ...25 2.3.1 系統輸入與輸出資料關係 ...27 2.4 各種識別法之比較 ...28 2.4.1 自動回歸模型法(ARX)之比較 ...29 2.4.2 自動回歸滑動平均模型法(ARMAX)之比較 ..31 2.4.3 輸出誤差模型法(OE)之比較 ...34 2.4.4 預測誤差模 型法(BJ)之比較 ...36 2.4.5 不同系統識別法之比較 ...39 第三章 電腦分析模型建立 ...42 3.1 碟式煞車 制動力矩分析 ...42 3.1.1 車輪動態數學模式 ...44 3.1.2 車輪制動力模型建立 ...47 3.1.3 車輛制動 力實驗及計算 ...48 3.1.4 相同路面有無ABS之減速度 ...60 3.2 煞車系統油壓管路分析 ...62 3.2.1 流體 系統元件 ...63 3.2.2 不考慮流感之體積流率 ...63 3.2.3 考慮流感之體積流率...65 3.3 體積流率 輸出結果 ...66 3.3.1 不考慮流感之體積流率輸出結果 ...66 3.3.2 考慮流感之體積流動率輸出結果 ...69 3.4 壓力輸出結果 ...71 3.4.1 體積流動率輸出的壓力結果 ...71 3.5 液壓煞車系統推估造成的減速度...74 第四章 結果與討論 ...81 4.1 ACC煞車配合CarSim分析 ...81 4.2 煞車比例分配之安全距離變化
...83 4.3 煞車比例分配之減速度變化 ...91 第五章 結論與建議 ...107 5.1 結論 ...107 5.2 建議事項與未來研究項目 ...109 參考文獻 ...110 REFERENCES
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