Modular cooperative fault-tolerant control of service and parking brakes for commercial vehicles under an integrated chassis domain control architecture

To address the lack of a unified coordination mechanism in conventional service/parking brake systems, a cooperative control scheme for service and parking brake modules based on an integrated chassis domain control architecture is proposed. First, a modular chassis domain control architecture is constructed, and a parameterized representation method for brake agents is introduced, providing an implementation framework for coordinated brake force allocation, smooth torque handover among multiple brake actuators, and brake force reconfiguration under brake failure conditions. Second, a staged cooperative control strategy for service and parking brake modules is developed by explicitly considering actuator dynamic characteristics, enabling rapid compensation of brake force deficits after fault occurrence and smooth handover between service and parking brake torques. Finally, a TruckSim–MATLAB–AMESim co-simulation platform is established, incorporating a full-vehicle model and a pneumatic model of the parking brake module, and validation is conducted under typical braking conditions as well as rear-axle service brake failure scenarios. Simulation results demonstrate that, compared with a non-coordinated service/parking brake scheme, the proposed strategy shortens the braking intensity recovery/establishment time by approximately 62.5% under the considered failure scenarios, while effectively suppressing deceleration fluctuations and mitigating longitudinal impact during service/parking braking torque handover.