Extremum-Seeking Control of ABS Braking in Road Vehicles With Lateral Force Improvement

Extremum-Seeking Control of ABS Braking in Road Vehicles With Lateral Force Improvement

An ABS control algorithm based on extremum seeking is presented in this brief. The optimum slip ratio between the tire patch and the road is searched online without having to estimate road friction conditions. This is achieved by adapting the extremum-seeking algorithm as a self-optimization routine...

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Veröffentlicht in:IEEE transactions on control systems technology 2014-01, Vol.22 (1), p.230-237
Hauptverfasser: Dincmen, Erkin, Guvenc, Bilin Aksun, Acarman, Tankut
Format: Artikel
Sprache:eng
Schlagworte:
ABS control problem
extremum-seeking algorithm (ESA)
Force
lateral stability
Mathematical model
optimum slip ratio
Roads
Tires
Valves
Vehicles
Wheels
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Guvenc, Bilin Aksun
Acarman, Tankut
description An ABS control algorithm based on extremum seeking is presented in this brief. The optimum slip ratio between the tire patch and the road is searched online without having to estimate road friction conditions. This is achieved by adapting the extremum-seeking algorithm as a self-optimization routine that seeks the peak point of the tire force-slip curve. As an additional novelty, the proposed algorithm incorporates driver steering input into the optimization procedure to determine the operating region of the tires on the "tire force"-"slip ratio" characteristic-curve. The algorithm operates the tires near the peak point of the force-slip curve during straight line braking. When the driver demands lateral motion in addition to braking, the operating regions of the tires are modified automatically, for improving the lateral stability of the vehicle by increasing the tire lateral forces. A validated, full vehicle model is presented and used in a simulation study to demonstrate the effectiveness of the proposed approach. Simulation results show the benefits of the proposed ABS controller.
doi_str_mv 10.1109/TCST.2012.2229465
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subjects ABS control problem
extremum-seeking algorithm (ESA)
Force
lateral stability
Mathematical model
optimum slip ratio
Roads
Tires
Valves
Vehicles
Wheels
title Extremum-Seeking Control of ABS Braking in Road Vehicles With Lateral Force Improvement
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