An anti-lock braking system algorithm using real-time wheel reference slip estimation and control

Abstract

Knowledge of the tyre-road interface traction limit during braking of a road vehicle can drastically improve safety and ensure stable braking on varied road conditions. This study proposes an optimal reference slip algorithm that determines the road surface while the vehicle is braking, by implicitly tracking the traction limit. It presents wheel slip variance regulation as a potential approach towards reference wheel slip estimation for wheel slip regulation (WSR). The variance regulation approach computes reference wheel slip using past wheel slip estimates and regulates wheel slip variation at a set point. This variance regulation problem was solved using least-squares estimation, yielding reference slip dynamics. A 3-staged nested control architecture was developed with reference slip dynamics to yield an anti-lock braking system (ABS) algorithm consisting of a brake controller, WSR algorithm and reference slip estimation. The algorithm was experimentally corroborated in a Hardware-in-Loop setup consisting of the pneumatic brake system of a heavy commercial road vehicle, and IPG TruckMaker®, a vehicle dynamics simulation software. The proposed ABS algorithm was tested on straight roads with homogeneous surfaces, split friction surfaces, and transition friction surfaces. It ensured stable braking in all road cases, with a 7%–18% reduction in braking distance on homogeneous road surfaces compared to the same vehicle without ABS. The vehicle directional stability was retained on a split-friction surface, and the ABS algorithm was observed to adapt to sudden transitions in the road surface.

Advanced post‐impact safety and stability control for electric vehicles

“…When referring to the lateral "Stability indexes", for instance, yaw rate and sideslip angle, we can find the same trends with the aforementioned safety indexes as demonstrated in Figures 9,10,17,and 18. The RMSEs for yaw rate and sideslip angle improve about 67.6%, 29.5%, and 90.4%, 26.7% with respect to pure braking and static allocation in highway impact as shown in Table 4.…”

“…These systems are proposed to prevent possible crashes or impacts and protect the drivers and passengers from injuries. A lot of vehicle dynamics control techniques are growing industrialised as mounted active safety systems [16], such as anti-lock braking system (ABS) [17], electronic stability control (ESC) [18], active front steering (AFS) [19], torque vectoring [20,21], active limited-slip differential [22] etc. These systems contribute a lot to decrease the fatalities and injuries in road accidents [23,24].…”

Experimental implementation of a vehicle anti-lock brake system employing intelligent active force control with a P-type iterative learning algorithm

“…It is proven in many simulation and experimental works, the superiority of its performance compared to the standard PID control method in controlling various dynamical systems (Abdelmaksoud et al, 2021; Al-Mola et al, 2012a; Hewit and Burdess, 1981; Muniandy et al, 2015; Priyandoko et al, 2009; Varatharajoo et al, 2011). This strategy was used in ABS to control the optimum wheel slip value in order to prevent the wheel from being totally locked under adverse operating conditions (Gaurkar et al, 2022; Lutfi, 2005).…”

Mechanical anti-lock braking system using pneumatic system and solenoid valve with low cost manufacturing

“…On taking friction factors of straight roads with homogeneous surfaces, the ABS shows a reduction in the braking distance. It was observed that the reduction range in such situations was 7%-18% which was much better than wheels without ABS (Gaurkar et al, 2022). In another work, the hydraulic ABS system with an intelligent controller control braking was tried based on the real-time slip ratio of the wheels estimated from vehicle velocity.…”