Abstract
Anti-lock and also Anti-slip braking system controller designed for stability enhancement of vehicle during braking and turning circumstances is presented. Using available signals, a novel structure is proposed for vehicle stability improvement encountering critical braking conditions such as braking on slippery or μ-split road surfaces. In conventional vehicles, undesired lane changes may occur due to equal dispatch of braking torques to all wheels simultaneously. Also, intensive pressure on brake pedal can bring about wheels lockup which results in vehicle instability and undesired lane changes. The Anti-Lock Braking System (ALBS) and also Anti-Slip Braking System (ASBS) can serve as a driver assist system in vehicle path correction facing critical driving conditions during braking and turning round on different road surfaces. For these purposes, at first, a reference yaw angle is used for predicting of stable vehicle path. Then, slip of each wheel will be controlled by an Anti-Slip fuzzy controller which has been designed for each wheel. Also, a sliding mode controller has been designed so as to control the yaw angle concerning the yaw error where the yaw error is resulted from the difference between the reference value and actual yaw angle. Then, the difference between the left and the right wheels braking torques is used by the sliding mode controller in order to decrease the yaw error. Considering a model of Three-Degree-of-Freedom for chassis modeling and One-Degree-of-Freedom Dugoff's tire model for each wheel, a series of Matlab/Simulink simulation results will be presented in order to validate the effectiveness of the proposed controller.
Published Version
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