A 3-phase combined wheel slip and acceleration threshold algorithm for anti-lock braking in heavy commercial road vehicles
TL;DR: In this article, a rule-based anti-lock braking system (ABS) algorithm for active vehicle safety in heavy commercial road vehicles (HCRVs) is presented, based on wheel slip regulation (WSR) algorithms.
Abstract: This research presents a rule-based Anti-lock Braking System (ABS) algorithm towards active vehicle safety in Heavy Commercial Road Vehicles (HCRVs). Wheel Slip Regulation (WSR) algorithms, that ar...
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01 Jan 2022
1 citations
TL;DR: In this paper , a Direct Yaw-Moment Controller (DYC) integrated with ABS to achieve vehicle directional stability for Heavy Commercial Road Vehicles (HCRVs) is proposed.
Abstract: When a road vehicle is subjected to combined cornering and emergency braking, it potentially has a greater risk of wheel lock followed by loss of steerability and/or undesired yaw motion. While an Anti-lock Braking System (ABS) is mandatory in many countries to avoid wheel lock, more attention is required to its combined cornering and braking performance. This paper aims to design a Direct Yaw-Moment Controller (DYC) integrated with ABS to achieve vehicle directional stability for Heavy Commercial Road Vehicles (HCRVs). This study implements a robust reaching law-based sliding mode controller for DYC and ABS. The developed algorithm was evaluated in a Hardware-in-Loop (HiL) setup. The experimental results are compared for the integrated algorithm and standalone ABS algorithms. The proposed algorithm improved the Directional Performance Index (DPI) in the range of 29% to 84% over the open-loop behavior while maintaining vehicle stability. Moreover, it also improved the DPI in the range of 5% to 53% over standalone ABS in various emergency test cases.
1 citations
14 Dec 2022
TL;DR: In this paper , an antilock brake system based on a discrete-time switching mode controller originating from a modified sigmoid function is proposed, where a sufficient condition on controller parameters is obtained from Lyapunov stability analysis.
Abstract: An Antilock Brake System (ABS) based on a discrete-time switching mode controller originating from a modified sigmoid function is proposed. A sufficient condition on controller parameters is obtained from Lyapunov stability analysis. The proposed ABS has two components, a brake actuator controller and a wheel slip regulation algorithm, where the controller is applied in two different contexts. First, the model-based brake controller was designed for a pneumatic brake actuator following first order plus time delay dynamics, named as Predictive Switching Mode Controller (PSMC). Second, the rule-based wheel slip algorithm was formulated that minimized the error between the wheel slip ratio and its reference value. The proposed ABS algorithm was evaluated in a Hardware-in-Loop setup having IPG TruckMaker®. The algorithm was able to improve the braking distance performance up to 22.5% when compared to an existing rule-based ABS algorithm.
14 Dec 2022
TL;DR: In this article , the authors proposed a rule-based yaw rate controller, which considers the reference value of the wheel slip given to the ABS, and evaluated it in a hardware-in-loop setup having a brake actuator and utilizing IPG TruckMaker® for simulation of vehicle dynamics.
Abstract: An Antilock Brake System (ABS) effectively prevents wheel lock during straight-line braking. However, during combined emergency braking and cornering, ABS alone may not ensure vehicle stability and may result in loss of directional stability. Hence, yaw rate control is necessary for critical cornering scenarios. This study evaluates an existing ABS algorithm in combined braking and cornering scenarios and presents the limitations of ABS in such situations. Further, it proposes a rule-based yaw rate controller which considers the reference value of the wheel slip given to the ABS. The yaw rate controller is evaluated in a hardware-in-loop setup having a brake actuator and utilizing IPG TruckMaker® for simulation of vehicle dynamics. The proposed algorithm reduced the absolute normalized error in yaw rate tracking from 40.3% of the baseline case to 12.7%.
TL;DR: In this article , the authors demonstrate the sensitivity of ETR on wheel slip estimation using a fixed radius recursive least squares (FR-RLS) estimator and analyzes its effects on ABS performance.
Abstract: 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.
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TL;DR: In this article, three different observers are developed for the estimation of slip ratios and longitudinal tire forces, based on the types of sensors available, including engine torque, brake torque, and GPS measurements.
Abstract: It is well recognized in the automotive research community that knowledge of the real-time tire-road friction coefficient can be extremely valuable for active safety applications, including traction control, yaw stability control and rollover prevention. Previous research results in literature have focused on the estimation of average tire-road friction coefficient for the entire vehicle. This paper explores the development of algorithms for reliable estimation of independent friction coefficients at each individual wheel of the vehicle. Three different observers are developed for the estimation of slip ratios and longitudinal tire forces, based on the types of sensors available. After estimation of slip ratio and tire force, the friction coefficient is identified using a recursive least-squares parameter identification formulation. The observers include one that utilizes engine torque, brake torque, and GPS measurements, one that utilizes torque measurements and an accelerometer and one that utilizes GPS measurements and an accelerometer. The developed algorithms are first evaluated in simulation and then evaluated experimentally on a Volvo XC90 sport utility vehicle. Experimental results demonstrate the feasibility of estimating friction coefficients at the individual wheels reliably and quickly. The sensitivities of the observers to changes in vehicle parameters are evaluated and comparisons of robustness of the observers are provided.
301 citations
TL;DR: In this article, a sliding mode controller for wheel slip control has been designed based on a two-axle vehicle model, where the primary controller design has been improved using integral switching surface to reduce chattering effects.
Abstract: Antilock brake system (ABS) has been designed to achieve maximum negative acceleration by preventing the wheels from locking. Research shows that the friction between road and tire is a nonlinear function of wheel slip. Therefore, maximum negative acceleration can be achieved by designing a suitable control system for wheel slip regulation at its optimum value. Since there is a lot of nonlinearity and uncertainty (uncertainty in mass and center of gravity of the vehicle and road condition) in vehicle dynamics, a robust control method should be used. In this research, a sliding mode controller for wheel slip control has been designed based on a two-axle vehicle model. Important considered parameters for vehicle dynamic include two separated brake torques for front and rear wheels as well as longitudinal weight transfer caused by the acceleration or deceleration. One of the common problems in sliding mode control is chattering phenomenon. In this paper, primary controller design has been improved using integral switching surface to reduce chattering effects. Simulation results show the success of integral switching surface in elimination of chattering side effects and by high performance of this controller. At the end, the performance of the designed controller has been compared with three of the prevalent papers results to determine the performance of sliding mode control integrated with integral switching surface.
124 citations
TL;DR: A new class of five-phase anti-lock brake algorithms that use wheel deceleration logic-based switching and a simple mathematical background that explains their behavior are provided and an approximation of the Poincaré map of the system is computed.
Abstract: The aim of our paper is to provide a new class of five-phase anti-lock brake algorithms (that use wheel deceleration logic-based switching) and a simple mathematical background that explains their behavior. First, we completely characterize the conditions required for our algorithm to work. Next, we explain how to compute analytically an approximation of the Poincare map of the system (without using numerical integration) and show how to calibrate the algorithm's parameters to obtain the most efficient limit cycle.
90 citations
TL;DR: In this article, a vehicle adaptive sliding-mode control (SMC) algorithm is presented with the estimated vehicle velocity, the tyre/road friction coefficients and the optimal slip ratios.
Abstract: A sliding-mode observer is designed to estimate the vehicle velocity with the measured vehicle acceleration, the wheel speeds and the braking torques. Based on the Burckhardt tyre model, the extended Kalman filter is designed to estimate the parameters of the Burckhardt model with the estimated vehicle velocity, the measured wheel speeds and the vehicle acceleration. According to the estimated parameters of the Burckhardt tyre model, the tyre/road friction coefficients and the optimal slip ratios are calculated. A vehicle adaptive sliding-mode control (SMC) algorithm is presented with the estimated vehicle velocity, the tyre/road friction coefficients and the optimal slip ratios. And the adjustment method of the sliding-mode gain factors is discussed. Based on the adaptive SMC algorithm, a vehicle's antilock braking system (ABS) control system model is built with the Simulink Toolbox. Under the single-road condition as well as the different road conditions, the performance of the vehicle ABS system is sim...
67 citations
TL;DR: The development and Hardware-in-the-Loop testing of an explicit nonlinear model predictive controller (eNMPC) for an antilock braking system (ABS) for passenger cars, actuated using an electro-hydraulic braking unit shows the control system robustness with respect to the variations in tire-road friction condition and initial vehicle speed.
Abstract: This paper addresses the development and Hardware-in-the-Loop (HiL) testing of an explicit nonlinear model predictive controller (eNMPC) for an antilock braking system (ABS) for passenger cars, actuated using an electro-hydraulic braking unit. The control structure includes a compensation strategy to guard against the performance degradation due to actuation dead times, identified by experimental tests. The eNMPC is run on an automotive rapid control prototyping unit, which shows its real-time capability with comfortable margin. A validated high-fidelity vehicle simulation model is used for the assessment of the ABS on a HiL rig equipped with the braking system hardware. The eNMPC is tested in seven emergency braking scenarios, and its performance is benchmarked against a proportional-integral-derivative (PID) controller. The eNMPC results show: 1) the control system robustness with respect to the variations in tire-road friction condition and initial vehicle speed; and 2) consistent and significant improvement of the stopping distance and wheel slip reference tracking, with respect to the vehicle with the PID ABS.
63 citations