Abstract: It is to study a new hierarchical intelligent control system in the vehicle’s steering antilock brake stability fields. A layered control system consisting of the execution layer and the cooperation layer is designed. On the execution layer, optimal sliding mode controller based on genetic algorithms is designed for the automotive brake controller. Optimal sliding mode controller based on genetic algorithms is designed for the automotive steering controller. On the cooperation layer, this paper provides coordination control scheme and gives a specific coordination strategy for two subsystem of braking and steering. The stability and the validity of the control algorithm are validated by simulation results.

Key words: vehicle antilock braking system, optimal sliding mode controller based on genetic algorithms, cornering braking, coordinate control

摘要： 为了研究解决车辆转向过程中防抱死制动稳定性问题，设计了一种由执行级、协调级组成的分层控制系统，在执行级，设计了基于遗传算法的汽车ABS最优滑模控制器；设计了基于遗传算法的汽车转向滑模控制器。在协调级，针对制动和转向两个子系统提出协调控制方案，给出具体协调策略。用仿真结果验证所设计控制算法的稳定性和有效性。

关键词: 汽车防抱死制动系统, 基于遗传算法的最优滑模控制器, 转向制动, 协调控制