电子稳定控制系统（ESC）是提升汽车操纵稳定性与安全性的关键技术，也是智能化底盘的核心技术，它提高了车辆在紧急操控或不稳定驾驶工况下的行驶稳定性。另外，ESC液压控制单元亦可作为汽车线控制动的执行器，用于实现目标压力或目标减速度的控制，在高级驾驶辅助系统中也扮演了重要的角色。ESC液压系统受电磁力、动态液压力、弹性阻尼等影响具有较强非线性，因此针对其结构参数等进行系统设计，优化各关键结构参数实现对线性调控范围的拓宽，并进一步实现对压力及减速度的精确控制，具有重要的研究意义。本文针对高速开关阀的强非线性特性优化设计了其关键结构参数，拓宽了其线性调控范围。在建立其理论模型的基础上，通过仿真与试验的方法，分析各结构参数如阀座锥角、阀口直径等对阀芯受力的影响，改进设计了其结构参数。并通过高精度力传感器、激光位移传感器等设计搭建了高速开关阀及ESC系统的性能测试平台，解决了阀芯电磁及液压特性在高压、密闭、狭小环境下难以观测的难题，为验证各结构参数对线性调控性能的影响提供了测试条件。最终将设计的高速开关阀应用于一款ESC产品中，经验证提高了线性调控的性能。本文基于ESC系统液压模型，实现了精确的轮缸压力估计与减速度控制。根据ESC系统液压控制单元各零部件的液压特性建立其数学理论模型，在对电机、柱塞泵等零部件与液压回路的流量、压力特性进行估算的基础上，实现了基于液压模型的轮缸压力估算。另基于系统动力学模型与液压模型设计了适用于驾驶辅助系统的非线性模型预测减速度控制器，与传统PID减速度控制器相比，提高了整车纵向减速度控制的精度与稳定性，奠定了实现汽车各主动安全功能的基础。本文在所开发ESC系统的基础上，改进设计了纵向驾驶辅助系统功能，提升了车辆行驶的安全性与可靠性，拓宽了线控制动系统的应用范围。一方面基于改进的避撞制动减速度安全评估模型，设计了自动紧急制动系统控制策略，提高了制动距离控制精度与驾驶安全性；另一方面将反馈校正方法引入模型预测控制器，设计了鲁棒自适应巡航系统控制策略，协调了系统在干扰下对跟踪能力、舒适性及安全性的综合需求，并最终对纵向控制策略进行了仿真与实车的对比与验证。
Electronic Stability Control (ESC) is a crucial technology for enhancing vehicle handling stability and safety, and is also the core technology of intelligent chassis. It improves the vehicle's driving stability under emergency control or unstable driving conditions. In addition, the ESC hydraulic control unit (HCU) can also be used as an actuator for BBW system to achieve target pressure or target deceleration control, and also plays an important role in advanced driving assistance systems. The ESC hydraulic system is highly nonlinear due to the influence of electromagnetic force, dynamic hydraulic pressure, elastic damping, etc. Therefore, it is of great research significance to conduct system design based on its structural parameters, optimize each key structural parameter to broaden the linear control range, and further achieve precise control of pressure or deceleration.This thesis optimizes and designs the key structural parameters of high-speed switching valves to solve the problem of strong nonlinear characteristics and broadens the linear control range. On the basis of establishing a theoretical model of high-speed on-off valve (HSV), through simulation and testing methods, this thesis analyzes the influence of various structural parameters such as seat cone angle, port diameter, etc. on the force of the valve core, and improves the design of its structural parameters. Furthermore, multiple performance testing platform for HSV and ESC systems are designed and constructed using high-precision force sensors, laser displacement sensors, etc., addressing the challenges of observing electromagnetic and hydraulic characteristics of spool in high-pressure, enclosed, and narrow environments, providing test conditions for verifying the impact of various structural parameters on linear control performance. Finally, the designed HSV is applied to an ESC product, which improved the performance of linear control.This thesis implements accurate wheel cylinder pressure estimation and deceleration control based on the ESC system hydraulic model. This thesis establishes a mathematical theoretical model of HCU based on the hydraulic characteristics of its components. By estimating the flow and pressure characteristics of components such as the motor, plunger pump, and hydraulic circuit, the study achieves wheel cylinder pressure estimation based on the hydraulic model. Besides, a hierarchical nonlinear model predictive deceleration controller suitable for advanced driving assistance system (ADAS) is designed based on the system dynamics model and hydraulic model. The performance of the controller is compared with traditional PID deceleration controller, and the accuracy and stability of the vehicle's longitudinal deceleration control are improved. This lays the foundation for the realization of various active safety functions of the vehicle.Based on the developed ESC system, this thesis improves and designs the relevant functions of the longitudinal ADAS, which improves the safety and reliability of vehicle driving and broadens the application scope of the BBW system. On one hand, based on the modified deceleration rate to avoid collision (MDRAC) safety measurement, an automatic emergency braking system control strategy is designed. This enhances the accuracy of braking distance margin and improves driving safety. On the other hand, by introducing feedback correction methods into Model Predictive Control (MPC) controllers, a robust adaptive cruise control strategy is designed. This strategy coordinates the system's requirements for tracking capability, comfort, and safety comprehensively under interference. Finally, a comparison and validation of the longitudinal control strategy is performed through simulation and real vehicle tests.
