中文摘要：

针对汽车转向制动工况提出了一种主动前轮转向和防抱死制动系统的协调控制方法。分别设计了转向控制器和制动系统控制器,在分层协调控制思想的基础上建立了上层协调控制器,对两个系统进行协调控制。仿真结果表明：采用此控制策略对主动前轮转向和防抱死制动系统进行控制,能够改善车辆的操纵稳定性和制动性能：车身横摆角速度均方根值由0.0461rad/s降为0.0382rad/s,车身横向加速度均方根值由0.9352m/s^2降为0.7886m/s^2,制动距离由23.9845m减小为23.1092m,前轮滑移率均方根值由0.1968增为0.1975,后轮滑移率均方根值由0.1965增为0.1981。

英文摘要：

A coordination control method of vehicle active front wheel steering and ABS on steering and braking conditions was presented. At first, steering system controller and ABS controller were designed separately, and then an upper coordination controller was set up based on an idea of delaminating control in order to coordinate the two subsystems. The simulation results showed that： the vehicle had better steering stabilization and braking performance by applying this method to control the active front wheel steering and ABS, the root mean square value of vehicle raw rate decreased from 0.046 1 rad/s to 0.038 2 rad/s, the root mean square value of lateral acceleration decreased from 0. 935 2 m/sa to 0. 788 6 m/s^2, the brake distance decreased from 23. 984 5 m to 23.109 2 m, the root mean square value of slip rate of front wheel increased from 0. 196 8 to 0. 197 5, and slip rate of rear wheel increased from 0. 196 5 to 0. 198 1.