中文摘要：

为提高车辆行驶的主动安全性，引入分层控制思想。建立名义横摆角速度和名义质心侧偏角为输出的线性二自由度车辆模型。基于线性二次型调节器设计上层控制器，得到附加横摆力矩，采用差动制动原理，设计中层控制器对附加横摆力矩进行分配，根据中层控制器分配的附加横摆力矩计算滑移率增量，基于PID控制理论设计下层滑移率控制器，以控制车轮的制动压力；最后联合MATLAB／Simulink和CarSim进行鱼钩转向和双移线转向仿真试验。结果表明，采用分层控制能够有效地提高车辆行驶的主动制动稳定性。

英文摘要：

In order to improve the vehicle＇s active safety, the hierarchical control thought is introduced. Two degrees of freedom linear reference model is established based on a nominal yawing angular velocity and nominal side-slip angle. Based on the linear quadratic regulator, the upper controller is designed to obtain additional yaw moment, the differential braking principle is used to design middle controller to allocate additional yaw moment. The slip rate increment is calculated according to the additional yaw moment assigned by the middle controller. Based on PID control theory, lower slip rate controller is designed to control the wheel brake pressure. Finally,by using the MATLAB/Simulink and CarSim software,fishhooks steering test and double lane change test is verified through simulation. The results show that hierarchical control can effectively improve the stability of vehicle active braking.