Abstract
Since their introduction, anti-lock braking systems (ABS) have mostly relied on heuristic, rule-based control strategies. ABS performance, however, can be significantly improved thanks to many recent technological developments. This work presents an extensive review of the state of the art to verify such a statement and quantify the benefits of a new generation of wheel slip control (WSC) systems. Motivated by the state of the art, as a case study, a nonlinear model predictive control (NMPC) design based on a new load-sensing technology was developed. The proposed ABS was tested on Toyota’s high-end vehicle simulator and was benchmarked against currently applied industrial controller. Additionally, a comprehensive set of manoeuvres were deployed to assess the performance and robustness of the proposed NMPC design. The analysis showed substantial reduction of the braking distance and better steerability with the proposed approach. Furthermore, the proposed design showed comparable robustness against external factors to the industrial benchmark.
Highlights
Anti-Lock Braking System (ABS) is among the most challenging topics of wheel slip control (WSC) design
To evaluate the proposed controller, a methodology similar to the industry-used assessment chain was applied: (i) a restricted set of manoeuvres were evaluated covering all possible ABS control fall-backs; (ii) a comprehensive set of key performance indicators (KPIs) was developed; (iii) a high-fidelity simulation setup was deployed to accurately replicates the braking behaviour from the field tests both at the vehicle level and actuator dynamics
The analysis showed that the proposed logic generally outperforms the threshold-based control on each of the simulated manoeuvres
Summary
Anti-Lock Braking System (ABS) is among the most challenging topics of wheel slip control (WSC) design. An additional contribution, is the list of key performance indicators (KPIs) and scenarios by which to benchmark and validate any proposed ABS design (Section III), with the aim of providing guidelines for future research in this area. Motivated by the conclusions of the review of the state of the art, a Nonlinear Model Predictive ABS Controller is presented and validated through the designed KPIs and compared with respect to a more classical approach (Sections IV). The novelty of the proposed controller is the usage of reconstructed wheel force information in the prediction horizon allowing to achieve a better tracking performance compared to the industry-used logic and the reduction of computational load
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
