The dynamics of antilock brake systems

Abstract

The nonlinear dynamics of automobile braking are investigated. Nonlinearity arises because of the manner in which the friction coefficient between vehicle tyres and road surface depends upon vehicle speed and wheel angular speed. We show how antilock brake systems approach optimum braking performance.

Vehicle dynamic stability improvements through gain-scheduled steering and braking control

“…a reference provided by a reference model (which is a bicycle model where parameters may be adjusted in order to obtain comfort or sport driving performances), without using the sideslip measurement (practically badly known). (2) To ensure that the braking control signal is always achievable by the considered actuators. …”

“…Longitudinal vehicle behaviours have been and still are widely studied through the rotational wheel and slip dynamic control, leading to the development of anti-locking braking system (ABS) strategies [2][3][4][5]; concerning the lateral and yaw behaviours, related to handling and safety performances, many papers involve steering control [6][7][8][9][10][11] or braking control [12,13]. Since the last decade, the tendency is now to use both actuators [14].…”

Dual Mode Vehicle with In-Wheel Motor: Regenerative Braking Optimization

“…In conventional vehicles, two main actuators accomplish those functions, the combustion engine and the hydraulic brake system. It imposes different solutions of control adapted to different actuators dynamics [2,3]. Using in-wheel motors provides new opportunities to control Torque distribution during braking on a wet road with full control of the braking system.…”

Study and comparison of non linear and LPV control approaches for vehicle stability control

“…While automotive systems involve several dynamics, vehicle safety is mainly linked to lateral and longitudinal movements. Many recent works have dealt either with longitudinal car behavior through slip and wheel dynamics leading to many efficient strategies as ABS and ESP [1]- [4], or with the lateral and yaw based control for handling and safety performance improvements. In the latter case the control structure may include either steering actuators (mainly front and rear) [5]- [8] olivier.sename@gipsa-lab.grenoble-inp.fr actuators (eventually at the four wheels) [9], [10].…”