Abstract: Aiming to improve the automobile stability under the joint working condition of active steering and braking, a synergetic control strategy between the active front-wheel steering and antilock braking system is studied. A fussy control steering controller and proportion integration differentiation (PID) braking controller are designed and a two degree of freedom steering model and braking dynamic model are established. The control strategy is tested and simulated by using the joint simulation model based on Simulink and Adams/Car. The results show that this synergetic control strategy can effectively reduce the braking distance and improve its stability for automobile under steering and braking conditions.

Key words: Control strategy; Steering; Braking; Fussy control; Dynamic model

摘要： 针对汽车主动转向-制动联合工况，以提高汽车稳定性为目标研究了汽车主动前轮转向 和防抱死制动系统的协同控制策略，设计了模糊控制转向控制器与比例-积分-微分（PID）制 动控制器的协调策略，建立了二自由度转向模型和制动模型。结合 Simulink 和 Adams/Car 中 的车辆模型对控制策略进行了测试和仿真分析。结果表明，在主动转向-制动联合工况下，该 协同控制策略能够有效降低车辆制动距离，提高汽车行驶稳定性。

关键词: 控制策略；转向；制动；模糊控制；动力学模型