An anti-lock braking system algorithm using real-time wheel reference slip estimation and control

2021 ◽  
pp. 095440702110240
Author(s):  
Pavel Vijay Gaurkar ◽  
Karthik Ramakrushnan ◽  
Akhil Challa ◽  
Shankar C Subramanian ◽  
Gunasekaran Vivekanandan ◽  
...  
Keyword(s):  
Simulation Software ◽  
Road Surface ◽  
Dynamics Simulation ◽  
Wheel Slip ◽  
Road Vehicle ◽  
The Road ◽  
Braking System ◽  
Estimation And Control ◽  
Friction Surfaces ◽  
Abs Algorithm

Knowledge of the tyre-road interface traction limit during braking of a road vehicle can drastically improve safety and ensure stable braking on varied road conditions. This study proposes an optimal reference slip algorithm that determines the road surface while the vehicle is braking, by implicitly tracking the traction limit. It presents wheel slip variance regulation as a potential approach towards reference wheel slip estimation for wheel slip regulation (WSR). The variance regulation approach computes reference wheel slip using past wheel slip estimates and regulates wheel slip variation at a set point. This variance regulation problem was solved using least-squares estimation, yielding reference slip dynamics. A 3-staged nested control architecture was developed with reference slip dynamics to yield an anti-lock braking system (ABS) algorithm consisting of a brake controller, WSR algorithm and reference slip estimation. The algorithm was experimentally corroborated in a Hardware-in-Loop setup consisting of the pneumatic brake system of a heavy commercial road vehicle, and IPG TruckMaker®, a vehicle dynamics simulation software. The proposed ABS algorithm was tested on straight roads with homogeneous surfaces, split friction surfaces, and transition friction surfaces. It ensured stable braking in all road cases, with a 7%–18% reduction in braking distance on homogeneous road surfaces compared to the same vehicle without ABS. The vehicle directional stability was retained on a split-friction surface, and the ABS algorithm was observed to adapt to sudden transitions in the road surface.

Anti-Lock Wheel Slip Control With an Adaptive Searching Algorithm for the Optimal Slip

2015 ◽  
Author(s):  
Ning Pan ◽  
Liangyao Yu ◽  
Lei Zhang ◽  
Zhizhong Wang ◽  
Jian Song
Keyword(s):  
Lyapunov Theory ◽  
Modulation Amplitude ◽  
Wheel Slip ◽  
Slip Control ◽  
The Road ◽  
Road Friction ◽  
Speed Fluctuation ◽  
On The Road ◽  
Pressure Modulation ◽  
Abs Algorithm

An adaptive searching algorithm for the optimal slip during ABS wheel slip control is proposed. By taking advantage of the fluctuation of wheel slip control, the direction towards the optimal slip can be found, and the target slip calculated by the algorithm asymptotically converged to the optimal slip, which is proved using the Lyapunov theory. A gain-scheduling wheel slip controller is developed to control the wheel slip to the target slip. Simulations on the uniform road and on the road with changed friction are carried out to verify the effectiveness of the proposed algorithm. Simulation results show that the ABS algorithm using the proposed searching algorithm can make full use of the road friction and adapts to road friction changes. Comparing with the conventional rule-based ABS, the pressure modulation amplitude and wheel speed fluctuation is significantly reduced, improving control performance of ABS.

scholarly journals Design and Kinematics Analysis of Suspension System for a Formula Society of Automotive Engineers (FSAE) Car

2021 ◽  
pp. 48-63
Author(s):  
K. Sriram ◽  
K. Anirudh ◽  
B. Jayanth ◽  
J. Anjaneyulu
Keyword(s):  
Vehicle Control ◽  
Simulation Software ◽  
Suspension System ◽  
Road Surface ◽  
Kinematics Analysis ◽  
Kinematic Simulation ◽  
Kinematic Design ◽  
The Road ◽  
Adams Simulation

The main objective of the Suspension of a vehicle is to maximize the contact between the vehicle tires and the road surface, provide steering stability and provide safe vehicle control in all conditions, evenly support the weight of the vehicle, transfer the loads to springs, and guaranteeing the comfort of the driver by absorbing and dampening shock. This paper discusses the kinematic design of a double a-arm Suspension system for an FSAE Vehicle. The hardpoint’s location can be determined using this procedure to simulate motion in any kinematic simulation software. Here, Optimum Kinematics is used as kinematic simulation software, and the results are verified using Msc Adams simulation. The method illustrated deals with the basics of Kinematics which helps to predict the characteristics of the Suspension even before simulating it in the kinematic simulation software.

scholarly journals Anti-Lock Breaking System Pada Krl Commuter Line Jabodetabek Sebagai Penunjang Keselamatan Mengunakan Fuzzy Inference System

2018 ◽  
Vol 1 (2) ◽  
Author(s):  
Sam Ali Nurdin ◽  
Ketut Bayu Yogha Bntoro
Keyword(s):  
Public Transportation ◽  
Fuzzy Inference ◽  
Online Media ◽  
Wheel Slip ◽  
Inference System ◽  
The Public ◽  
The Road ◽  
Braking System ◽  
Logical Method ◽  
Electric Train

The public transportation model which is currently widely used by people who live in Jakarta, Bogor, Depok, Tangerang and Bekasi (JABODETABEK) is the Commuter-Line Electric Train (KRL). According to online media sources(http://Kompas.com 2 December 2015), currently, the JABODETABEK Commuter-Line KRL can carry 900,000 passengers every day. Anti Lock Braking System (ABS) is a braking system that maintains the position of the wheels and the road to prevent tire/wheel slip. Anti Lock Braking System was first used or applied to aircraft. Vehicles that are not equipped with the Anti-lock Braking System must be updated. The driver makes optimal braking to prevent slip between the wheels and the road or rail so that the vehicle stops perfectly. In this paper, we will use fuzzy inference logic to support an Anti-lock Braking System (ABS). Fuzzy inference is a logical method because when determining variables in the fuzzy method, the variable must have an International Standard (SI).

Application of microwave Doppler displacement sensors in anti-lock braking system

2021 ◽  
pp. 43-48
Author(s):  
Dmitry V. Khablov
Keyword(s):  
Distribution System ◽  
Wheel Speed ◽  
Road Surface ◽  
The Road ◽  
Braking System ◽  
Speed Sensor ◽  
Displacement Sensors ◽  
Braking Distance ◽  
Braking Force

The issues of optimization of the vehicle anti-lock braking system are considered. To increase the reliability of the system, it is proposed to use a brake distribution system adaptive to the quality of the road surface for a quick stop of the vehicle while maintaining controllability. The system together with sensors angular wheel speed included a microwave Doppler displacement and speed sensor. The use of the specified Doppler sensor made it possible to achieve a more accurate coincidence of the dependence of the braking force on the degree of adhesion of the wheels to the road surface by monitoring the ratio between the angular and linear speeds of movement. In this way, it was possible to minimize the braking distance of the vehicle while maintaining controllability under various driving conditions.

A Study of Combined Braking and Cornering Performance of a Transit Bus Using Validated Computer Simulation

2004 ◽  
Author(s):  
Beshahwired Ayalew ◽  
Nan Yu ◽  
Saravanan Muthiah ◽  
Bohdan T. Kulakowski
Keyword(s):  
Simulation Software ◽  
Lateral Acceleration ◽  
Total Load ◽  
Surface Conditions ◽  
Braking System ◽  
Air Suspension ◽  
Multibody Dynamic ◽  
Abs Algorithm ◽  
Multibody Dynamic System ◽  
Transit Bus

In this paper, results from actual braking tests of a low-floor, two-axle transit bus are used to validate a dynamic model of the bus. The model, developed using the commercial multibody dynamic system simulation software ADAMS, is an 18 DOF full-bus model of a transit bus equipped with air suspension and pneumatic brakes with Anti-lock Braking System (ABS). An ABS algorithm was implemented in MATLAB/Simulink and linked to the ADAMS full-bus model using co-simulations. The validated full-bus model was then used to study lateral and roll stability of a transit bus during combined braking and cornering maneuvers on various road surface conditions. Numerical experiments were also conducted to study the effects of variations in total load on the dynamics of the bus during braking while cornering. The results indicate the danger of yaw-instability on slippery surfaces. Increasing the total load reduced the lateral acceleration of the bus with a less pronounced effect on the roll angle.

Road Vehicle Information Collection System Based on Distributed Fiber Optics Sensor

2014 ◽  
Vol 1030-1032 ◽  
pp. 2105-2109 ◽  
Author(s):  
Li Li Feng ◽  
Yun Tao Wang ◽  
Chi Ruan ◽  
Sheng Tao
Keyword(s):  
Optical Fiber ◽  
Fiber Optics ◽  
High Performance ◽  
Road Surface ◽  
Information Collection ◽  
Collection System ◽  
Road Vehicle ◽  
The Road ◽  
On The Road ◽  
Vehicle Information

A novel distributed fiber optics sensor used for road vehicle information collection system was proposed. Optical fiber was fixed on the road surface to be used as the sensing media. The vehicle information such as speed, vehicle type, vehicle weight and traffic flow can be obtained. To increase the sensitivity of such sensor, an optical Fabry-Perot (F-P) fiber interference was used. Sensing optical fiber was designed to be with a metal coating for fiber protection and high performance. Experiment results show that such distributed fiber optics sensor may be with a high performance in transportation area without digging when it is installed on the road surface.

Comprehensive preview decision-making method for direction and speed of intelligent vehicle based on rules and mechanisms

2021 ◽  
pp. 095440702110347
Author(s):  
Guan Hsin ◽  
He Fei ◽  
Zhang Li-zeng ◽  
Jia Xin
Keyword(s):  
Decision Making ◽  
Control Object ◽  
Simulation Software ◽  
Dynamics Simulation ◽  
Driver Model ◽  
Prototype Model ◽  
The Road ◽  
Traffic Environment ◽  
Grid Optimization ◽  
Weighting Coefficients

According to the existing driver model, the objective function is coupled with continuity factors and discontinuity factors, which makes it difficult to determine the weighting coefficients in multi-objective optimization, which will cause dangerous situations such as the vehicle rushing out of the road boundary; in response to this problem, this paper proposes a driver model adapted to the complex traffic environment, based on the mechanism modeling of continuity factors and rule modeling of discontinuity factors. In view of the difficulty of traditional optimization algorithms to find a balance between efficiency and accuracy, this paper proposes a grid optimization algorithm that takes into account both efficiency and accuracy. In order to reduce the amount of calculation in the preview decision-making process, this paper proposes a curve integral method based on the laws of vehicle kinematics to predict the position of the vehicle to judge whether a collision will occur. The driver model is established in the Simulink simulation environment, and the C-level prototype model in the vehicle dynamics simulation software CarSim is selected as the control object, the results show that the proposed the preview decision model effectively solves the problem of divergence in the optimization solution, and can also ensure safety and traffic rules in a complex traffic environment, improving the quality of the model.

scholarly journals Wheel slip ratio regulation for investigating the vehicle's dynamic behavior during braking and steering input

2021 ◽  
Vol 22 ◽  
pp. 17
Author(s):  
Ali Shahabi ◽  
Amir Hossein Kazemian ◽  
Said Farahat ◽  
Faramarz Sarhaddi
Keyword(s):  
Dynamic Behavior ◽  
Fuzzy Controller ◽  
Surface Condition ◽  
Road Surface ◽  
Wheel Slip ◽  
Slip Ratio ◽  
Adaptive Fuzzy Controller ◽  
Adaptive Fuzzy ◽  
The Road ◽  
Optimal Value

In this study, the vehicle's dynamic behavior during braking and steering input is investigated by considering the quarter-car model. The case study for this research is a Sport-Utility Vehicle (SUV) with the anti-lock braking system (ABS) and nonlinear dynamic equations are considered for it along with Pacejka tire model. Regulating the wheel slip ratio in the optimal value for different conditions of the road surface (dry, wet and icy) during braking is considered as the ABS control strategy. In order to regulating the wheel slip ratio in the optimal value, an intelligent adaptive fuzzy controller that can perform online parameter estimation is considered. In this regard, the proposed controller tracks the optimal wheel slip ratio with changing the condition of the road surface from dry to wet and icy. The adaptive fuzzy controller consists of linguistic base, inference engine and defuzzifier section. The wheel slip ratio and vehicle longitudinal acceleration are selected as inputs of the controller, controller adapter and detector of the road surface condition. During braking and steering input, effective parameters of the wheel that are affected on the vehicle's dynamic behavior and its stability are investigated.

scholarly journals TECHNOLOGICAL MEASURES OF FOREFRONT ROAD IDENTIFICATION FOR VEHICLE COMFORT AND SAFETY IMPROVEMENT

Transport ◽  
2019 ◽  
Vol 34 (3) ◽  
pp. 363-372 ◽  
Author(s):  
Vidas Žuraulis ◽  
Vytenis Surblys ◽  
Eldar Šabanovič
Keyword(s):  
Image Analysis ◽  
Traffic Safety ◽  
Laser Scanning ◽  
Road Surface ◽  
The Road ◽  
Emergency Braking ◽  
Braking System ◽  
Safety Improvement ◽  
Road Friction ◽  
Surface Irregularities

This paper presents the technological measures currently being developed at institutes and vehicle research centres dealing with forefront road identification. In this case, road identification corresponds with the surface irregularities and road surface type, which are evaluated by laser scanning and image analysis. Real-time adaptation, adaptation in advance and system external informing are stated as sequential generations of vehicle suspension and active braking systems where road identification is significantly important. Active and semi-active suspensions with their adaptation technologies for comfort and road holding characteristics are analysed. Also, an active braking system such as Anti-lock Braking System (ABS) and Autonomous Emergency Braking (AEB) have been considered as very sensitive to the road friction state. Artificial intelligence methods of deep learning have been presented as a promising image analysis method for classification of 12 different road surface types. Concluding the achieved benefit of road identification for traffic safety improvement is presented with reference to analysed research reports and assumptions made after the initial evaluation.

Vibration Simulation of Tracked Vehicle Suspension and Damper Consumption Analysis

2012 ◽  
Vol 184-185 ◽  
pp. 748-751
Author(s):  
Zhao Zhong Cai ◽  
Hui Mei Li ◽  
Gang An
Keyword(s):  
Dynamic Simulation ◽  
Simulation Software ◽  
Road Surface ◽  
Vehicle Suspension ◽  
Superposition Method ◽  
Vehicle Model ◽  
Tracked Vehicle ◽  
The Road ◽  
Vibration Simulation ◽  
Regenerative Energy

In order to estimate the damping consumption of traditional suspension, this paper established the tracked vehicle model based on the dynamic simulation software RecurDyn, and the road models of B、D and F grad are constructed by harmony superposition method. Through the simulation of the suspension vibration, the relation between suspension consumption and different road surface and velocity is performed. The results supply some reference for the research on regenerative-energy suspension of tracked vehicle.

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