中文摘要：

通过理论推导、经验公式总结和参数测定等方法得到用于HIL的车辆系统数学模型，其中包括7自由度四轮车辆制动动力学模型、液压回路模型、制动器模型、Dugoff轮胎模型和ABS控制模型，并在MATLAB／Simulink环境下进行建模与仿真．将液压制动回路、压力调节器和控制器以实物形式嵌入仿真系统，在dSPACE系统平台下对所建车辆系统模型进行ABSHIL仿真试验．试验结果表明，通过在线参数调整确定逻辑门限值，采用ABS实车道路，所建车辆系统模型是合理的．

英文摘要：

A mathematical model for vehicle system was developed through theoretical derivation, empirical formula summary and parametric measurement. The model includes a 7-DOF and 4-wheel model of vehicle braking dynamics, hydraulic circuit system model, brake model, Dugoff tire model and ABS control model. It was built and simulated in the MATLAB/Simulink environment. The ABS controller HIL simulation was implemented on the dSPACE system platform using the vehicle model. The experimental results show that the thresholds of control logic are determined through online parameter modification, and the vehicle system model is validated by ABS road test.