Study on Top Hierarchy Control Strategy of AEBS over Regenerative Brake and Hydraulic Brake for Hub Motor Drive BEVs

Yu Yang (), Chao Wang, Shujun Yang and Xianzhi Tang
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Yu Yang: School of Vehicle and Energy, Yanshan University, No. 438 West Hebei Avenue, Qinhuangdao 066004, China
Chao Wang: School of Vehicle and Energy, Yanshan University, No. 438 West Hebei Avenue, Qinhuangdao 066004, China
Shujun Yang: School of Vehicle and Energy, Yanshan University, No. 438 West Hebei Avenue, Qinhuangdao 066004, China
Xianzhi Tang: School of Vehicle and Energy, Yanshan University, No. 438 West Hebei Avenue, Qinhuangdao 066004, China

Energies, 2022, vol. 15, issue 22, 1-17

Abstract: A hub motor is an effective drive system for Battery Electric Vehicles (BEVs). However, due to limitations on packaging and cost, there are few applications in which hub motors are taken as the only actuators for a brake vehicle. Most applications involve a Regenerative Braking System (RBS) combined with a Hydraulic Braking System (HBS). In this paper, a top hierarchy Advanced Emergency Braking System (AEBS) controller is designed in Matlab/Simulink and State-flow, including functionalities of basic emergency braking, brake force distribution between front and rear wheels, anti-lock braking and coordination between RBS and HBS based on Model Predictive Control (MPC); a Seven Degrees of Freedom (DOF) BEV chassis model is constructed and rear-end crash test scenarios are created in Carsim with a high and low road adhesion coefficient. A series of comparison tests show that not only are the stopping distances between the ego vehicle and target vehicle shorter, but also the braking torques, longitudinal slip ratio and rotation speed of each wheel are well controlled without wheel locking. To sum up, in addition to meeting the AEBS requirements of avoiding a rear-end collision, the control strategy developed in this paper also levels up braking performance and enhances vehicle stability on both high-mu and low-mu roads for BEVs driven by a hub motor independently.

Keywords: battery electric vehicle; hub motor; advanced emergency braking system; regenerative braking; recuperative braking; hydraulic braking; distributed drive; model predictive control (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2022
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