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中文摘要：
在对电动助力转向系统和防抱制动系统分别建模的基础上，深入分析两系统在助力转向制动过程中的矛盾性，采用分层协调控制策略，将控制系统分为底层和上层控制部分。底层控制器为转向和制动系统两个单独的控制器，用以执行各子系统的控制任务；上层协调器对其进行整体协调分析，并及时修改底层控制的决策，从实现整车综合性能最优的目标出发来执行协调优化任务。仿真结果表明，提出的协调控制逻辑正确可行，在保证转向轻便性的前提下，提高了系统制动稳定性和行驶安全性。
英文摘要：
Based on modeling of electric power steering system and anti-lock braking system, conflict of the two systems in the process of power assisted steering and braking is analyzed, a layered coordinated control strategy for chassis control system divided into bottom and upper layer control parts is adopted. The bottom controllers are two separate controllers, i.e. steering and braking system controllers. Bottom controllers are used to carry out different control tasks and achieve performance indexes of subsystems. The upper coordinated controller is used to modify the decision-making of bottom controllers, aiming at improving whole vehicle synthesis performance. The result of simulation proves that the coordinated control logic is correct and feasible. Under the condition of ensuring steering portability, it improves the braking stability and driving security.
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