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Abstract
This paper proposes an antilock braking system (ABS) control method for maximizing tire-road friction and minimizing yaw moment of a commercial vehicle. First, a target slip ratio-based ABS control strategy has been described based on Lyapunov theory. Under this method, slip ratio is controlled in stable range precisely and rapidly. As fixed target slip ratio of ABS controller is not able to provide optimal road friction when a vehicle brakes on butt road and μ-split road, a variable target slip ratio method has been proposed to further improve tire-road friction and decrease yaw moment caused by longitudinal tire-road friction. Vicinity estimation and actual adhesion-based estimation have been introduced to estimate optimal target slip ratio. After a series of simulation tests, the method proposed in this paper has been proven to be effective.
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