The ABS control algorithm for the logical threshold of the electronic hydraulic brake system(EHB)will cause se-vere shaking of the hydraulic pressure of the wheel cylinder when working,and the slip rate will also have a large jitter near the opti-mal slip rate,and then the slip rate control algorithm will be studied.By establishing a longitudinal,lateral and swing angle three-free vehicle model of the vehicle,and through the estimation and analysis of tire force,the slip rate control algorithm of the sliding mode structure is designed.Matlab/Simulink and AMEsim are used to establish joint simulation and experimentation.Simula-tion and experimental results show that in the process of high and low attached emergency braking,it can maintain a good brake de-celeration,shorten the braking time,improve the braking efficiency,and the actual slip rate oscillates near the target slip rate.
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