Research on Vehicle Stability Control Strategy Under Single-Wheel Emb Braking Failure

Current vehicles using electro-mechanical braking (EMB) systems face issues with low safety redundancy and are prone to brake failure. To improve the stability of the entire vehicle when a single-wheel EMB brake fails, this paper first reallocates the braking force among the remaining three wheels, taking a bus with a failed left front-wheel EMB brake as an example. A front-wheel steering controller is designed using the sliding mode control method with yaw rate and centroid sideslip angle as state variables. Then, the distribution of braking force is optimized according to the tire force coupling relationship described by the magic formula. Finally, the proposed control strategy is verified through co-simulation using TruckSim and MATLAB/Simulink under different operating conditions. The results show that the actual braking intensity of the vehicle reached <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$87.14 \%, 97.5 \%, 92.5 \%$</tex>, and <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$\mathbf{9 2. 5 \%}$</tex> of the desired value on road surfaces with different friction coefficients and different braking intensities. Compared with the strategy without failure control, the proposed stability control strategy not only prevents the vehicle from spinning out when EMB fails but also further reduces the braking distance and deviation distance. This provides a reference for studying vehicle stability control under singlewheel EMB brake failure.