Development and validation of the controller of vehicular ASR system via braking intervention

Acceleration Slip Regulation System(ASR) enhances the traction capability and the direction stability through slip ratio regulation of the driving wheels, which is realized by the output torque control of engine or the braking force control of the driving wheels generally. The braking intervention method is easy to be actualized and can be integrated to the ABS which is widely used in modern vehicles seamlessly, so the ASR via braking intervention is researched in this paper. The ASR controller is developed using the modern methodology V-cycle, because the traditional developing method through vehicle road experiments takes a long period and much fare. At first, the control algorithm is test off-line by the model simulation. Then the control algorithm is tested on-line by the Rapid Control Prototype(RCP), which can test the algorithm before the development of ECU hardware. That meets the requirement of parallel engineering of software and hardware. Then the ECU of ASR is tested by the Hardware-In-the-Loop Simulation(HILS), which is linking the real ECU with the virtual vehicle including the numeric model of the vehicle and the test circumstance. The real vehicle is not need and the test fare and risk is decreased markedly. At last, the controller is verified and validated by the vehicle road tests as the final confirmation. The control algorithm is amended in the developing process. The test results indicate that the developed ECU can realize the ASR function preferably and the V-cycle developing method is ascendant to develop the vehicle electronic control systems. The research is of important utility worthiness for the ASR controller design and rapid developing.