集成化转向和制动的车辆主动安全控制系统研究

针对汽车主动安全控制策略研究的需要，设计了转向和制动集成化的车辆主动安全研究系统。该系统包括装配线控转向、线控制动主动安全系统的实验车辆以及AUTOBOX硬件结构，同时有车辆动力性仿真软件MSCCarsim和与AUTOBOX无缝接口的MATLAB／Simulink作为软件支撑，可以实现车辆主动安全控制系统仿真、实时快速原型（RCP）／硬件在回路测试（HIL）等功能。为验证系统的可行性，建立了七自由度车辆动力学模型，提出了基于扩展Kalman滤波的车辆运动参数估计方法，并初步进行了控制方法和控制器设计的验证和分析工作。

Study on integrated steering and braking control system for vehicle active safety

A system which aims to study the integration of steering and braking control is designed due to the research requirement of control strategy for vehicle active safety. A test vehicle which is equipped with the systems of steering-by-wire and braking-by-wire is provided and the Autobox, combined with Matlab/simulink and MSCCarsim,is used to fulfill the RCP（ Rapid Control Prototyping） and HIL （Hardware-in-loop）. The vehicle model with seven degrees of freedom is constructed and the approach of vehicle parameters estimation based on the Extended Kalman Filter is proposed to validate the system. The primary control methods and controller design is carried out which proves the validation of the system.