Antilock braking system using dynamic speed estimation

Abstract

Antilock braking systems use slip to control braking, for which the velocity of the car and wheel speeds of the wheels are required. The wheel speeds can be measured directly but the velocity of the vehicle is difficult to measure. Although the wheel speed can be used to calculate the linear velocity of the vehicle using the tire characteristic function, it depends upon various environmental and time varying parameters. The dominant factor in the characteristic function is the road friction coefficient. Due to the difficulties in proper estimation of the road friction, most systems calculate the optimal values offline and apply them at different speeds using switching functions. By using the tire model and the optimal friction coefficients, the velocity of the vehicle is estimated and used for calculating the optimal braking force, resulting in inappropriate control of braking creating longer braking distances. In the method proposed in this paper, an estimator will be used to estimate the velocity, which is proved to be more accurate than calculated from the wheel speeds. The estimated velocity and the pitch angle will be used to schedule the braking forces in order to reduce the braking time. The braking time of the proposed system lies between the ideal braking time and the conventional reference wheel speed related braking time, indicating an improvement in reducing the braking distance.