Performance Review of Three Car Integrated ABS Types: Development of a Tire Independent Wheel Speed Control

Abstract

This study concerns the development and testing of three types of Anti-lock Brake Systems (ABS): a standard on-off wheel’s acceleration control; a wheel’s longitudinal slip controller based on a discrete Proportional-Integral-Derivative (PID) control; and a novel type of ABS that involves controlling the wheel’s speed through a discrete PID. This work was developed inside a wider project that will lead to the implementation of stability control systems in a prototype car. For this reason, the typologies of ABS must not require extra sensors compared to those in standard vehicles: Inertial Measurement Unit (IMU) and 4-wheel speed sensors. Furthermore, they must be easily integrated with other controls and electronic components in terms of sampling time and values. The standard ABS seems more appropriate than the others two because it uses only parameters defined by sensors and it has a simple architecture that does not have the problem of computational time. However, in recent years, cars have been equipped with Electro-Hydraulic-Braking (EHB) units that improve the performance of the system controls. In fact, it is possible to use a control that allows actuators to follow a continuous target and smooth out pressure actions. Even if the longitudinal Slip Controller has a simple architecture and uses a PID control, it is limited to using quantities estimated instead of measured: the tires’ friction coefficient, the tires’ longitudinal stiffness, and the car’s speed. Therefore, the use of a Wheel Speed Controller is the right compromise to link the advantages of both controllers by following the braking pressure continuously and not needing to know the condition and properties of the tires. The results of tests carried out in a Hardware-In-the-Loop (HiL) system are showed and involved a complex vehicle model implemented in real-time.

A Hierarchical Autonomous Driver for a Racing Car: Real-Time Planning and Tracking of the Trajectory

“…In the future the Anti-Lock Brake System developed and published in [27] will be added to the control architecture to ensure an improvement in stability performance.…”

Blended Regenerative Anti-Lock Braking System and Electronic Wedge Brake Coordinate Control Ensuring Maximal Energy Recovery and Stability of All-Wheel-Motor-Drive Electric Vehicles

“…If the wheel slip is controlled through this range, stable wheel performance is guaranteed, and maximum gripping is obtained [62]. There are two main techniques to prevent wheel locking under ABS: a standard hydraulic acceleration-based (also on-off, logic, or discontinuous) and electronic slip-based (also BBW, non-logic, regenerative, or continuous) [8] [9] [18].…”

Acceleration‐based wheel slip control realized with decentralised electric drivetrain systems

“…(10), the slip ratio can be expressed as: The slip behaviour under different driving conditions can be analysed by calculating the derivative of Ref. (11):…”

“…In conventional internal combustion vehicles, the TCSs can be realised by applying braking force to the wheels that are spinning [11]. However, the response speeds can be limited due to the control of hydraulic systems [12].…”