Anti-lock Braking System Research Articles

Impact of Effective Tire Radius on Wheel Slip Estimation and Antilock Brake System Performance of Heavy Road Vehicles

The wheel slip ratio is a function of the longitudinal speed of the wheel center, angular wheel speed, and Effective Tire Radius (ETR). The longitudinal speed of the wheel center and angular wheel speed can be calculated/estimated using an accelerometer and wheel speed sensor. However, ETR has uncertainties owing to variation in vehicle mass, air pressure in the tire, and dynamic load transfer. This article firstly demonstrates the sensitivity of ETR on wheel slip estimation using a Fixed Radius Recursive Least Squares (FR-RLS) estimator and analyzes its effects on Antilock Brake System (ABS) performance. Secondly, it proposes a Radius Searching RLS (RS-RLS) wheel slip estimator that mitigates the drift in estimates, maintains vehicle stability, and improves ABS performance. The proposed method was evaluated on a Hardware-in-Loop system with IPG TruckMaker. The RS-RLS estimator based ABS algorithm was compared against three FR-RLS estimator based ABS algorithms having different values of ETR and was found to have one order of magnitude lower mean absolute error.

Electric-hydraulic Compound Control Anti-lock Braking System

Electric-hydraulic Compound Control Anti-lock Braking System

Friction Losses During Slip Conditions in Regenerative Braking of Electric Vehicles

The regenerative braking system (RBS) in electric vehicles (EVs) enhances its capability against internal combustion engines (ICE). Antilock braking system (ABS) is widely used in RBS because of its maneuverability and safety. One of the purposes of applying ABS is to avoid slippage. Slip on the braking process, especially hydraulic brakes, results in a difference in time to stop the wheels and the vehicle. It is avoided because it relies on friction between the tires and the road to stop transportation. Timing results showed that ABS with high frequency, above 30 Hz, tended to act like hydraulic brakes. Hydraulic brakes achieved the highest time difference, 8 seconds at 2250 rpm. It increased the distance of 350 m in slipping while the lowest time difference ABS 10 Hz owned, 0.1 seconds at the same rpm. Slips caused losses. These losses could be minimized with low-frequency ABS. It converted the friction between the wheels and the brakes into electrical energy instead of stopping the vehicle. As a result, the 10 Hz ABS had the highest potency stored despite the lowest performance.

Implementation of four-wheel antilock braking system for commercial vehicle using bang-bang controller

Implementation of four-wheel antilock braking system for commercial vehicle using bang-bang controller

Fault Detection and Fault Tolerant Control for Anti-lock Braking Systems )ABS) Speed Sensors by Using Neural Networks

This paper proposed neural networks to continuously provide alternative constructed signals for vehicle and wheel speed sensors utilized for the Anti-Lock Braking System (ABS), which serves as the fault tolerant control method. These alternative constructed signals are used for two purposes. The first is to generate residual signals, and the second is to be adopted instead of isolated faulty signals. The residual signal is generated by extracting the difference between the alternative constructed signals and the corresponding actual signals. These residual signals serve as an indication of fault occurrence and to express that fault severity. Whenever a fault occurrence is detected and diagnosed in one of the sensor’s signals, the faulty signal is isolated and replaced by the corresponding constructed signal to maintain the system's normal behavior under a faulty condition. The range of data covered under the proposed estimating neural networks is huge, continuous in time, and not sampled. In this work, the range of the data lies between [50 to 120 km/h] when the braking is started. That cannot be performed by any available method. These models' training process is based on the Levenberg-Marquardt (LM) algorithm, implemented and tested by MATLAB/Simulink. The results show that these models can accurately map the measured data into the desired output through the best-fit functions. The fast response of the trained models makes them suitable for real-time alternative signals for fault-tolerant purposes for speed sensors during hard or panic braking.

Multi-body modeling and dynamic analysis of the heavy-load multi-axle vehicle Based on 6S/6M ABS control

The study investigates the braking characteristics of heavy-load five-axle special vehicle to improve the braking safety of it. The mechanical system with strong coupling is studied by means of multi-body dynamics analysis method, and the refined vehicle dynamics model including braking system, suspension system, steering system, and other components is established via platform of Adams/Car. Through road test experiments, the accuracy and reliability of the model under conditions of 80 m constant turning radius circle and emergency braking of 60 km/h initial speed are verified. The classical ABS (Anti-lock Braking System) control strategy with logic threshold including a road recognition module and a slip ratio calculation module is established in Simulink, which matches the ABS control system of 6 S/6 M for the five-axle special vehicle well. By changing adhesion conditions of a single road and the control channel modes of the split-mu road, the control effect of the ABS control system on the braking performance of the five-axle vehicle is determined by the co-simulation. The experimental and simulation results indicate the following: (1) The vehicle dynamics model can effectively simulate the structure of the actual vehicle mechanical system and mechanical constraints, and has good braking performance and steering performance; (2) ABS external control system and heavy-load five-axle vehicle model can be matched, and during the control process, logic thresholds need to be repeatedly adjusted to adapt to different types of roads. (3) The change of road adhesion coefficient will affect the control effect of ABS. The baking performance can be improved more in low adhesion road than in high adhesion road. (4) Split-mu road is more special and has a great impact on the lateral stability of braking. It can be seen through comparative analysis of high-selection and low-selection control that braking safety is better under low selection control mode.

Predictive Models for ABS and TPMS based on Gaussian Naïve Bays

The car industry is currently preoccupied with the issue of safety. The increasing number of accidents occurring around the world as a result of automobile problems is a major contributing factor to these incidents. The amount of complicated electronics that is used in vehicles is becoming more prevalent every day. A great effort has been made in evaluating vehicle features in relation to vehicle components. Through such systems, a smart architecture and complex function designs are involved. During all of this vehicle transformation and evolution, the automotive industry recognises a high demand for vehicle safety. While designing and manufacturing this system, automotive experts understand a need for a strict monitoring and feedback system for complex vehicle architecture, which can notify the end user if there is any indication of a failure ahead of time.
 In order to effectively participate in vehicle design activities, it is critical to grasp the significance of safety features. Tire system failures and braking system failures have played a large role in several recent traffic accidents. The failures of the tyre system and the braking system in the vehicle are addressed in this study. While investigating this system, it is discovered that it is supported by complex electrical systems, which include an ECU (electronic controller unit), sensors, and a wire system.
 Through the use of these technologies, censored data can be processed in a timely manner and made available for diagnostic purposes. Nevertheless, car diagnostics is needed after any vehicle failure but that does not serve the aim of maintaining vehicle safety. As a result, predictive analysis or predictive diagnostics may be a viable option for informing the driver about the health of a particular vehicle component in advance. In this study, the author discusses the concepts of vehicle prognostics for the tyre pressure monitor system and the antilock braking system, which are accomplished using a statistical method of machine learning. In today's world, machine learning is expanding in breadth, and the world is becoming more aware of its enormous potential in the field of data analytics. It is the purpose of this study to introduce methodologies by which machine learning can assist vehicle predictive analytics to attain the intended goal of vehicle safety.The author of this article discusses how Bayesian statistics may be used to produce predictions in the form of probability estimation. The prediction's outcome is thoroughly analysed.

A wheel slip ratio constraint control for ABS based on Tangent Type Barrier Lyapunov Function

This paper is concerned with the problem of a wheel slip ratio constraint control for the Antilock Braking System (ABS) with external interferences and state constraints. A quarter vehicle braking model with uncertainties is considered, and a constraint control method based on Tangent Type Barrier Lyapunov Function (Tan-BLF) is designed. In addition, due to the selection of the appropriate adaptive control rate, the designed control method can quickly track the ideal slip ratio and ensure that the slip ratio for ABS is always constrained in the stable region even if there are uncertainties in the control system and unknown external disturbances. The simulation results show that the control scheme proposed in this paper, compared with the traditional QLF controller scheme, can make the vehicle wheel slip rate stable at the optimal value early and keep it in the optimal range from the beginning of the simulation, thus reducing the braking distance and braking time of the vehicle, which means that the vehicle can avoid wheel locking. And the adaptive rate is always bounded.

Redundancy Control of Anti-lock Braking System Based on Electro-hydraulic Braking System

Redundancy Control of Anti-lock Braking System Based on Electro-hydraulic Braking System

The Experimental Evaluation of Cone Wedge Shape based Electronic Wedge Brake Mechanism in Vehicle Braking System

The brake system is one of the most critical parts of a vehicle's technology for avoiding accidents. The ultimate focus of the braking system is to guarantee that adequate stopping force is available to stop the vehicle's longitudinal movement. Therefore, the ability of a brake system to stop a vehicle must be examined in terms of analyzing the brake system's performance and the implementation of the brake system on actual vehicles. This study offers a performance evaluation of the Electronic Wedge Brake based on the Cone Wedge Shape (CW-EWB) on the vehicle brake systems. The evaluation was carried out through dynamic assessments, namely sudden braking tests at constant speeds of 40, 60, and 90 km/h using the MATLAB Simulink software simulation method and an experimental study using hardware-in-loop simulation (HILS). In the simulation study, the performance of the vehicle brake system using CW-EWB was compared with the brake performance of the vehicle using the conventional hydraulic brake (CHB). The results showed that CW-EWB behaved similarly to the hydraulic brake in terms of required brake torque output but with a faster response time, i.e., between 0.5 – 1 s. The HILS experimental study was conducted to evaluate the performance of the CW-EWB on actual vehicles. This method confirmed the HILS results against the simulation results with a variable response time of less than 6%. Vehicle body speed, wheel speed, longitudinal tire slip, and stopping distance experienced by the vehicle were all evaluated. The study's findings show that the proposed CW-EWB is quite effective and sufficiently dependable to be used as a vehicle brake system, notably in Antilock Braking Systems.

РАЗВИТИЕ АНТИБЛОКИРОВОЧНЫХ СИСТЕМ СОВРЕМЕННЫХ АВТОМОБИЛЕЙ, ВКЛЮЧАЯ ЭЛЕКТРОМОБИЛИ И ГИБРИДНЫЕ ТРАНСПОРТНЫЕ СРЕДСТВА

The article provides an analytical overview of the development of automotive anti-lock braking systems (ABS). Some historical aspects of the development of automotive ABS are described. Examples of control algorithms for ABS actuators are given, which demonstrate the practical implementation of various control methods. The change of some technical characteristics of ABS and methods of their control is shown. Predictions are given for the development of anti-lock braking systems in the course of improving road transport and the transition from traditional cars with only an internal combustion engine to hybrid cars and electric vehicles. The experience of the FSUE “NAMI” is shown on the creation of ABS with combined actuators. The possibility of using electric drive machines for driving wheels to work as part of ABS actuators is investigated. Algorithms of joint control of friction braking mechanisms and electric machines have been developed. A set of theoretical and experimental studies of combined ABS actuators has been carried out, confirming the possibility of improving the braking characteristics of a car in various road conditions during emergency braking.

A Model Predictive Control Approach With Slip Ratio Estimation for Electric Motor Antilock Braking of Battery Electric Vehicle

In this article, based on the estimation of optimal slip ratio, a model predictive control approach is proposed for the antilock braking system with motor of a battery electric vehicle. A wheel dynamics model with a virtual control quantity is established. A method for estimating the optimal slip ratio of different roads is introduced, which consists of a sliding mode observer for longitudinal braking force and a recognizer of slip ratio. A ground slip map that describes the relationship between slip ratio and ground adhesion coefficient is proposed, which is utilized to identify the optimal slip ratio. Based on the model predictive control algorithm, a braking torque controller is designed to track the optimal slip ratio for good performance of braking stability and security. The vehicle control unit embedded with the estimator and model predictive control law is tested in a battery electric vehicle on the dry and wet roads. The experimental results indicate that the proposed approach has a good performance for the estimation and control of slip ratio during the antilock braking with electric motor, especially suitable for the low adhesion road conditions.

Characterizing future crashes on Indian roads using counterfactual simulations of pre-crash vehicle safety technologies

India's national road crash statistics indicate a continuing increase in casualties. Pre-crash safety technologies are effective in high-income countries, but it is unclear how these will perform in India and which crash types will remain after their implementation. The study objective was to predict and characterize the crashes resulting in moderate or more-severe injuries (Maximum Abbreviated Injury Scale 2 or above: MAIS2+) that remain on Indian roads after 22 pre-crash safety technologies have been implemented in all cars, heavy vehicles (buses and trucks), and Powered Two-Wheelers (PTW). Two deterministic rulesets (one optimistic and one conservative) were modeled for each of the pre-crash safety technologies. Each rule was designed and tuned to the functionality of one technology. The data were obtained from the Road Accident Sampling System India (RASSI) database. In addition to the effectiveness of each technology alone, the combined effectiveness of all technologies was estimated. Further, the characteristics of those crashes that none of the technologies would have avoided were determined. Rear-end-specific Autonomous Emergency Braking (AEB REAR-END) and Electronic Stability Control (ESC) installed in cars and heavy vehicles reduced MAIS2+ crashes the most. Crashes between PTWs and cars were significantly reduced by a rear-end-specific AEB installed in the cars. A pedestrian-specific AEB (AEB-PED) in cars and heavy vehicles was also shown to be effective. The only pre-crash safety technology in PTWs that was included, Antilock Braking Systems (ABS), reduced overall PTW crash involvement, but only reduced PTW-to-pedestrian crashes marginally. The largest proportion of remaining crashes were those that involved PTWs, indicating that PTW safety will remain a concern in future.

Performance of Anti-Lock Braking Systems Based on Adaptive and Intelligent Control Methodologies

Automobiles of today must constantly change their speeds in reaction to changing road and traffic circumstances as the pace and density of road traffic increases. In sophisticated automobiles, the Anti-lock Braking System (ABS) is a vehicle safety system that enhances the vehicle's stability and steering capabilities by varying the torque to maintain the slip ratio at a safe level. This paper analyzes the performance of classical control, model reference adaptive control (MRAC), and intelligent control for controlling the (ABS). The ABS controller's goal is to keep the wheel slip ratio, which includes nonlinearities, parametric uncertainties, and disturbances as close to an optimal slip value as possible. This will decrease the stopping distance and guarantee safe vehicle operation during braking. A Bang-bang controller, PID, PID based Model Reference Adaptive Control (PID-MRAD), Fuzzy Logic Control (FLC), and Adaptive Neuro-Fuzzy Inference System (ANFIS) controller are used to control the vehicle model. The car was tested on a dry asphalt and ice road with only straight-line braking. Based on slip ratio, vehicle speed, angular velocity, and stopping time, comparisons are performed between all control strategies. To analyze braking characteristics, the simulation changes the road surface condition, vehicle weight, and control methods. The simulation results revealed that our objectives were met. The simulation results clearly show that the ANFIS provides more flexibility and improves system-tracking precision in control action compared to the Bang-bang, PID, PID-MRAC, and FLC.

Evaluation of a Novel Emergency Braking Task on a Driving Simulator with Haptic Anti-Lock Braking System Feedback

Rear-end crashes are one of the leading types of crashes today. The anti-lock braking system (ABS) was designed to assist drivers during emergency braking situations by preventing wheel lock up, allowing drivers to retain control of the vehicle. Not all drivers have knowledge and experience with ABS, especially the haptic brake pedal feedback produced by ABS. There studies introduce a new method to train ABS using an emergency braking task on a simulator and an interactive exercise, Pedals Emergency Stop©. The interactive exercise was designed to prompt participants to press the brake pedal in a motion that is consistent with emergency braking and experience haptic ABS feedback. Participants that depressed the brake pedal quickly to the maximum travel and held that pedal position “passed” the trial. In Study 1, participants (N = 63) completed 15 trials, where it took on average three trials to “pass” for the first time, and 85% of the participants experienced their first “pass” within the first four trials. There were no differences observed between participants with previous knowledge and experience feeling ABS versus those who did not have prior knowledge and experience with ABS. The participants in this study thought that they had enough trials, that the exercise was a practical tool, and recommended the task for new drivers and refresher training, as well as for evaluating fitness to drive. Suggested improvements included a practice followed by three tests, all with four trials each; passing criteria of three out of four trials; and modifications to the feedback presented immediately after completing each trail. Study 2 was conducted (N = 38) to investigate the proposed “passing” criteria, where 95% passed on Test 1. The results revealed that the criteria to pass was reasonable. Future research should examine how the Pedals Emergency Stop© interactive exercise generalizes to on-road driving.

Research on Fuzzy Control Method of Automobile Antilock Braking System

The automobile Antilock Braking System (ABS) can prevent the wheel from locking by automatically adjusting the brake pressure at a high speed during emergency braking. While improving the braking effect of the car, it can also keep the steering ability of the car and ensure the safety of passengers. The automobile braking process has a strong nonlinearity and uncertainty, so exploring a simple and reliable control strategy is the focus of current research. Based on this, this paper proposes a variable-domain fuzzy proportional integral differential (PID) control strategy using a particle swarm optimization (PSO) algorithm to iteratively find the optimal theoretical domain. First, the PSO strategy is used to obtain the optimal regulation parameters. Then, the dynamic antiinterference ability of the control system is guaranteed by the variable theory domain fuzzy PID control, and the PID parameters and variable theory domain expansion factor are optimized by the PSO to increase the utilization degree of fuzzy rules initially set. Finally, compared with the traditional control strategy, the simulation and real vehicle test prove that the proposed system can significantly improve the control accuracy of abs. The proposed system has the advantages of small overshoot, short adjustment time, strong antiinterference ability, and practicability, which greatly improves the tracking performance of the ABS.

Evaluation of compliance with the current standards requirements regarding the anti-lock braking system effectiveness of an electric vehicle with mixed braking support

Introduction (statement of the problem and relevance). In accordance to the current standards the requirements were assessed: for the braking process efficiency of M1vehicles category using an antilock braking system (ABS) and the combined possibility control of two actuators - electric machines installed in the vehicle driving wheels as well as the electro-hydraulic modulation pressure unit in the hydraulic circuit of the working brake cylinders.The purpose of the study was to evaluate the effectiveness of the newly developed ABS algorithm in accordance with current standards and additional requirements.Methodology and research methods. The braking process computer simulation of a M1 vehicle category equipped with four electric motors and an electro-hydraulic braking system was carried out. As a result of calculations, the obtained braking parameters were to be compared and evaluate according to the requirements of UN Regulation No. 13H, as well as evaluate the braking efficiency parameters.Scientific novelty and results. The effectiveness of the developed control algorithm for the ABS actuators (electro-hydraulic unit and electric machines in the drive wheels) has been proven in terms of meeting the requirements of UN Regulation No. 13H. Studies showed an efficiency improvement of the ABS operating due to the proposed algorithm, when compared to foreign-produced analogues.The practical significance of the work is the proof of the developed algorithm efficiency for M1 electric vehicles category.

Automatic emergency braking/anti‐lock braking system coordinated control with road adhesion coefficient estimation for heavy vehicle

The road adhesion coefficient is a key factor influencing automatic emergency braking (AEB) and anti-lock braking system (ABS) safety control of trucks. With the fading factor introduced, and the covariance gain adjusted in real time, the strong tracking unscented Kalman filter (STUKF) algorithm is modified to estimate the road adhesion coefficient more accurately. Composed of an ABS fuzzy sliding mode controller (SMC) and an AEB controller, an AEB/ABS coordinated control strategy with an adhesion coefficient estimation is designed for a three-axle heavy vehicle. The control effects are verified through experiments on various road conditions based on a hardware-in-loop test platform. The test results show that the proposed control strategy has a better braking efficiency than the traditional AEB/ABS and AEB control strategy without adhesion coefficient estimation and can decrease braking distance by 8.4% and braking time by 5.9%, which is beneficial to the vehicle longitudinal safety.

Compressor Air Pressure and Brake Shield Distance Brake to Braking Accuracy on Brakes Antilock Braking System

The development of automotive technology to date is very fast. In the city, it is almost rare to find conventional cars. Most are already using modern technology. The hallmark of modern cars is that they are not fully mechanical. Already combined with several electric and pneumatic tools. Until now the development in the field of chassis is endless. Its initial development began with the discovery of ABS (Anti Lock Brake System) brakes. Basically, ABS is followed by supporting components such as EBD, ESP, and so on.All of this is actually inseparable from the main function of braking. Namely so that the car can run well,, deceleration and stop as desired appropriately. The parts of the brakes that are most influential are the brake shoes and discs and the compressed air from the brakes. Also the most influential accuracy is the distance of the brake shroud. Therefore, in this study the aims of 1. To find the effect of pressure and brake shroud distance. 2. What is the minimum air pressure and brake shroud for the brakes to work properly (grip). This research uses experimental design method. The data is processed with the Minitab program. Data processing shows that: 1. The braking speed is influenced by the amount of compressed air pressure. Partially the distance of the brake shroud does not affect the braking speed. But the interaction of pressure and shroud distance has an effect on braking speed. 2. Air pressure that can be used as a fast ABS braking process is 3.75 – 4.25 (bar) with a shroud distance of 5 (mm).

Design and Analysis of Vehicle Anti-Lock Braking System with Fuzzy Logic, Bang-Bang and PID Controllers

In this study, a mathematical model of Anti-Lock Braking System (ABS) has been developed and simulated in MATLAB/Simulink environment using bang-bang, fuzzy logic and PID controllers. The controllers were used to control the braking force to be applied based on various parameters like relative slip, road condition and coefficient of friction between road and tire. The simulated result was compared and analyzed. The simulation result showed that a PID controller would take 9.665 seconds to stop the vehicle at the distance of 434.902 ft at an initial velocity of 88 ft/s. The Fuzzy Logic, Bang-Bang and no controllers offered 935.298 ft at 16.76 seconds, 696.996 ft at 13.751 seconds and 1421.327 ft at 24.217 seconds, respectively for the same initial velocity and road surface. From analysis, it was concluded that the PID controller had better performance compared to fuzzy logic and bang-bang controllers for application of ABS in a vehicle.