Abstract
This paper evaluates a mathematical vehicle model, and an antilock braking (ABS) and traction control system (TCS) with a software package, CarSim. The mathematical vehicle model is developed to analyse dynamic performance and to design various safety control systems. Wheel slip controllers for antilock braking and traction control systems are included to improve vehicle response and to increase safety on slippery roads. The results show that the vehicle model agrees closely with the reference vehicle model under various driving conditions. The wheel slip controllers were applied to both models and they worked well, demonstrating that the controllers are robust and reliable. They were also determined to improve lateral stability as well as longitudinal stability when a vehicle is manoeuvred on slippery roads.
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