Single-wheel brake failure stability control for vehicle equipped with brake-by-wire system
To address the issues of braking performance and stability in the event of a single-wheel brake failure in a brake-by-wire system, this paper proposes a control strategy for real-time optimization of braking force allocation between cooperative brake-by-wire and steer-by-wire systems.With this method, the braking intensity is categorized into light, moderate, and heavy levels based on whether the three remaining wheels can compensate for the loss of braking force from the failed wheel.To address the issue of insufficient braking force compensation under heavy braking conditions, a front wheel active steering gear based on integral sliding mode control method is designed.Considering the changes in the vertical load of each wheel when a single wheel brake failure occurs and the coupling effect of the tire forces after the intervention of front-wheel steering, we employ a Sequential Quadratic Programming (SQP) algorithm to distribute the remaining three wheel braking forces in real-time.Our simulation results demonstrate the proposed control method reduces lateral deviation by 89.98％,91.90％,96.96％, and 89.62％ compared with the case without control under different braking intensities and different wheel brake failures.Meanwhile,it ensures the braking intensities reach at least 97.5％ of the normal braking level and guarantees stability while satisfying the driver's braking expectations to the maximum extent, effectively addressing issues such as vehicle deviation and over-steering caused by single-wheel brake failure.
brake by wire systemsingle wheel brake failurebrake force distributionstability control
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