LAUSR

In this article, based on a novel electro-hydraulic braking system for full self-driving vehicles, a model predictive control approach is designed for precisely tracking of braking pressure. Concerning electric motor, reduction mechanism, and hydraulic system, a new braking system model is formulated. Due to the nonlinear hydraulic characteristic of the master cylinder piston, a quadratic polynomial is utilized to fit a relationship between piston position and cylinder pressure, by which a desired pressure of master cylinder is transformed into a desired position of the piston. A recursive least square with forgetting factor is developed to find the optimal parameters of pressure–position relationship. A system friction model is established to calculate the equivalent friction torque, which is regarded as the compensation of the desired torque. A vehicle test bench of full self-driving is established to validate the designed approach. According to the accurate tracking and the quick response of braking pressure from experimental results, it can be concluded that the model predictive control approach is a good candidate for the pressure demand control of electro-hydraulic braking by wire.