Survey on Wheel Slip Control Design Strategies, Evaluation and Application to Antilock Braking Systems
Francesco Pretagostini (Student TU Delft)
L. Ferranti (TU Delft - Learning & Autonomous Control)
Giovanni Berardo (Toyota Motor Europe)
Valentin Ivanov (Ilmenau University of Technology)
B. Shyrokau (TU Delft - Intelligent Vehicles)
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Abstract
Since their introduction, anti-lock braking systems (ABS) have mostly relied on heuristic, rule-based control strategies. ABS performance, however, can be significantly improved thanks to many recent technological developments. This work presents an extensive review of the state of the art to verify such a statement and quantify the benefits of a new generation of wheel slip control (WSC) systems. Motivated by the state of the art, as a case study, a nonlinear model predictive control (NMPC) design based on a new load-sensing technology was developed. The proposed ABS was tested on Toyota's high-end vehicle simulator and was benchmarked against currently applied industrial controller. Additionally, a comprehensive set of manoeuvres were deployed to assess the performance and robustness of the proposed NMPC design. The analysis showed substantial reduction of the braking distance and better steerability with the proposed approach. Furthermore, the proposed design showed comparable robustness against external factors to the industrial benchmark.
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