Redundant Control of Light-special-vehicle Braking System Based on Corner Wheel Module

Brake redundant control is the last line of defense to ensure vehicle safety. A brake redundant controller (BRC) using nonlinear model predictive control (NMPC) is proposed for light special vehicles with corner wheel module on split-µ roads. Firstly, a three-degree-of-freedom (3-DOF) nonlinear dynamics model of the corner wheel module vehicle is established. The dynamics model is simplified according to dynamics characteristics under the complete failure of braking system. Secondly, BRC is designed with constraints of discretized dynamics model and steering range of corner wheel module. Then, the NMPC method is adopted to reasonably allocate the steering angle of each wheel to maintain linear stability of vehicle. At last, the proposed BRC based on NMPC is assessed through the Co-simulation of Carsim and MATLAB. Simulation results attest that BRC based on NMPC can adjust the turning angle of every wheel in real time. At the same time, this method can enhance the braking stability of the light-special-vehicle on split-µ roads.