All-Wheel Braking Force Allocation During a Braking-in-Turn Maneuver for Vehicles With the Brake-by-Wire System Considering Braking Efficiency and Stability
A novel method of all-wheel braking force allocation during a braking-in-turn maneuver is proposed for vehicles with the brake-by-wire (BBW) system. The concept of stability priority is applied in distributing the braking force to each wheel, which means that the stability performance has priority over the braking demand during a braking-in-turn maneuver. Based on this principle, I-curves for braking-in-turn maneuvers with respect to three parameters are developed using the graphics of a single-track vehicle model, defining the force allocation between the front and rear axles. Then, the distributed braking force of the front and rear axles is allocated between the inner and outer wheels based on the load transfer. The simulation and hardware-in-the-loop (HIL) experimental results show that the proposed allocation strategy makes good use of adhesion and ensures vehicle stability during a braking-in-turn maneuver. The proposed method provides theoretical guidelines on independent braking force control in the BBW system, which enhances vehicle stability and braking performance.