Aguado-Rojas, Missie (Université Paris-Sud), PASILLAS LEPINE, William (CNRS), Loria, Antonio (CNRS)

A hybrid controller for ABS based on extended-braking-stiffness estimation

Scheduled for presentation during the Regular Session "Vehicle Dynamics Control" (WeAT3), Wednesday, June 26, 2019, 11:30−11:50, Chamerolles

9th IFAC International Symposium on Advances in Automotive Control, June 23-27, 2019, Orléans, France

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

In the context of antilock braking systems (ABS), we present a two-phase hybrid control algorithm based on the tyre extended braking stiffness (XBS), that is, on the slope of the tyre-road friction coefficient with respect to the wheel slip. Because the XBS cannot be directly measured, a switched observer is used to estimate it. With the proposed hybrid algorithm, the closed-loop trajectories of the system satisfy the conditions required for the observer to correctly estimate the XBS. Moreover, the braking distances are shorter than those obtained using a hybrid algorithm based on wheel deceleration thresholds.