For passengers, the most common feeling during running on the bumpy road is continuous vertical discomfort, and when the\nvehicle is braking, especially the emergency braking, the instantaneous inertia of the vehicle can also cause a strong discomfort of\nthe passengers, so studying the comfort of the vehicle during the braking process is of great significance for improving the\nperformance of the vehicle. This paper presented a complete control scheme for vehicles equipped with the brake-by-wire (BBW)\nsystem aiming at ensuring braking comfort. A novel braking intention classification method was proposed based on vehicle\nbraking comfort, which divided braking intention into mild brake, medium comfort brake, and emergency brake. Correspondingly,\nin order to improve the control accuracy of the vehicle brake system and to best meet the driverâ??s brake needs, a\nbraking intention recognizer relying on fuzzy logic was established, which used the road condition and the brake pedal voltage and\nits change rate as input, output real-time driverâ??s braking intention, and braking intensity. An optimal brake force distribution\nstrategy for the vehicle equipped with the BBW system based on slip rate was proposed to determine the relationship between\nbraking intensity and target slip ratio. Combined with the vehicle dynamics model, improved sliding mode controller, and brake\nforce observer, the joint simulation was conducted in Simulink and CarSim. The cosimulation results show that the proposed\nbraking intention classification method, braking intention recognizer, brake force distribution strategy, and sliding mode control\ncan well ensure the braking comfort of the vehicle equipped with the BBW system under the premise of ensuring brake safety.
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