Hierarchical Braking Torque Control of In-Wheel-Motor-Driven Electric Vehicles Over CAN

This paper proposes a hierarchical braking torque control system design over controller area network (CAN) for electric vehicle with four in-wheel motors. Based on nonlinear tyre-road friction estimation, an adaptive braking torque control scheme is devised in the upper level controller to simultaneously regulate the wheel slip ratio for both front and rear wheels. While in the lower-level controller, a frequency-depended braking torque allocator is developed to dynamically distribute the braking torques command from upper level controller into friction braking torque and regenerative braking torque. A braking supervisor is established to enable or disable proposed hierarchical braking controller according to wheel slip ratio as well as vehicle speed condition. To avoid undesired discontinuities in braking torque signal when proposed braking controller is enabled abruptly, an initial value of the estimated tyre-road friction is rescaled additionally. Dedicated CAN bus module is built by using SimEvent toolbox, by which vehicle states as well as control signals can be transmitted and shared. Co-simulation by using MATLAB/Simulink and CarSim is conducted to demonstrate the effectiveness of the proposed hierarchical braking torque controller. Random CAN-induced delays are considered in the braking control process, by which the robustness of the proposed hierarchical braking controller is further verified.