# RBS and ABS Coordinated Control Strategy Based on Explicit Model Predictive Control

## TL;DR

This paper introduces a new control strategy for electric vehicle braking systems that improves coordination between regenerative and hydraulic braking.

## Contribution

The novel eMPC-CCS strategy enhances real-time braking performance and energy recovery by combining offline and online control methods.

## Key findings

- The eMPC-CCS strategy outperforms existing methods in braking energy recovery.
- The proposed control framework improves real-time capability during braking.
- Simulation and HIL testing confirm the robustness of the eMPC-CCS across diverse conditions.

## Abstract

During the braking process of electric vehicles, both the regenerative braking system (RBS) and anti-lock braking system (ABS) modulate the hydraulic braking force, leading to control conflict that impacts the effectiveness and real-time capability of coordinated control. Aiming to enhance the coordinated control effectiveness of RBS and ABS within the electro-hydraulic composite braking system, this paper proposes a coordinated control strategy based on explicit model predictive control (eMPC-CCS). Initially, a comprehensive braking control framework is established, combining offline adaptive control law generation, online optimized control law application, and state compensation to effectively coordinate braking force through the electro-hydraulic system. During offline processing, eMPC generates a real-time-oriented state feedback control law based on real-world micro trip segments, improving the adaptiveness of the braking strategy across different driving conditions. In the online implementation, the developed three-dimensional eMPC control laws, corresponding to current driving conditions, are invoked, thereby enhancing the potential for real-time braking strategy implementation. Moreover, the state error compensator is integrated into eMPC-CCS, yielding a state gain matrix that optimizes the vehicle braking status and ensures robustness across diverse braking conditions. Lastly, simulation evaluation and hardware-in-the-loop (HIL) testing manifest that the proposed eMPC-CCS effectively coordinates the regenerative and hydraulic braking systems, outperforming other CCSs in terms of braking energy recovery and real-time capability.