Brake performance evaluation of ABS with sliding mode controller on a split road with driver model

Abstract

KEYWORDS: Vehicle dynamics model, Anti-lock brake system, Sliding mode control, Hardware In the loop system In this paper, Sliding Mode Controller (SMC) is proposed to enhance Anti-Lock Brake System (ABS) performance. To verify SMC performance, a real-time Hardware in the loop simulation has been created with a hydraulic brake line. Therefore, the hydraulic brake model and vehicle model should be properly set up to acquire exact simulation results. In addition, the experiment results are compared with that of the commercial ABS with ECU only, and verified how much the performance is improved. The control strategy is to follow the target slip ratio by means of sliding mode controller and secure the vehicle stability while the vehicle braking on various road conditions, such as dry road, wet road, icy road and even split road condition. The driver model is useless on the uniform slip ratio of a straight road. However, the split road has to adopt the driver model. The split road condition has a different slip ratio at each wheel, causing the vehicle to spin out. Test results show that ABS with sliding mode controller has better performance than existing ABS and also ensures improved vehicle stability. Furthermore, the test result on the split road shows how the vehicle will follow the desired path with the driver model and hold the target slip ratio.

Tracking control of omnidirectional mobile platform with disturbance using differential sliding mode controller

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Influences of Initial Braking Velocity and Passenger Capacity on Mean Fully Developed Deceleration

“…Besides, the parameters of MFDD calculation can be collected online currently [8][9][10], but the studies on braking performance monitoring and appraisal are fewer with requirements of braking performance in GB7258-2004 [1,[11][12][13], therefore, the research results can also be used to evaluate actual driving braking performance.…”