A study on an anti-lock braking system controller and rear-wheel controller to enhance vehicle lateral stability

Abstract

This paper presents a mathematical vehicle model that is designed to analyse and improve the dynamic performance of a vehicle. A wheel slip controller for anti-lock braking system (ABS) brakes is formulated using a sliding mode controller and a proportional-integral-derivative (PID) controller for rear wheel steering is also designed to enhance the stability, steerability, and driveability of the vehicle during transient manoeuvres. The braking and steering performances of controllers are evaluated for various driving conditions, such as straight and J-turn manoeuvres. The simulation results show that the proposed full car model is sufficient to predict vehicle responses accurately. The developed ABS reduces the stopping distance and increases the longitudinal and lateral stability of both two-and four-wheel steering vehicles. The results also demonstrate that the use of a rear wheel controller as a yaw motion controller can increase its lateral stability and reduce the slip angle at high speeds.

A novel method for non-linear control of wheel slip in anti-lock braking systems

“…Sliding mode control methods have been frequently applied to ABS control because of their potential to cope with nonlinearities and intrinsic robustness (Buckholtz, 2002;Drakunov, Ozguner, Dix, & Ashrafi, 1995;Harifi, Aghagolzadeh, Alizadeh, & Sadeghi, 2008;Kazemi, Hamedi, & Javadi, 2000;Lin & Hsu, 2003;Lee & Zak, 2002;Park, Stoikov, Luz, & Suleman, 2006;Song, Kim, & Boo, 2007;Unsal & Kachroo, 1999;Zheng, Tang, Han, & Zhang, 2006). But, one of the undesirable effects of the sliding mode control in practice is chattering phenomenon.…”

Design and Comparison of AFS Controllers with PID, Fuzzy-Logic, and Sliding-Mode Controllers

“…The yaw rates and the reference yaw rate of the PID, FLC, and SMC vehicles are shown in Figure 5(c). The yaw rates of the three vehicles tracked the reference yaw rate very well, which indicates that the controllers enhanced the stability of the vehicle [11,13]. The distortion of the yaw rate between about 0.4 and 1.3 s was due to the yaw rate constraint.…”

“…A list of notations is provided in the Notation Section. The equations of motion for the model are as follows [13][14][15].…”

“…The desired slip was defined as 0.15, regardless of the road conditions. Previous studies by the author fully describe the ABS controller [13][14][15]. The three controllers for the AFS system controlled the front steering angle to allow the yaw rate to track the reference yaw rate.…”

Test Analysis and Theoretical Calculation on Braking Distance of Automobile with ABS

“…By theoretical calculation, initial speed in these norms and regulations has been discussed whether it can truly reflect potential braking performance in the line brake. It can be more targeted to amend road test so that the braking performance of vehicle with ABS can be comprehensive evaluated [3][4].…”