Composite braking anti-lock intelligent control method based on turning angle real-time estimation

A composite anti-lock braking intelligent control method based on real-time estimation of a turning angle relates to the technical field of vehicle braking control and comprises the following steps: step 1, acquiring a vehicle ABS wheel speed signal and vehicle basic parameter information; 2, estimating a vehicle turning angle theta in real time based on an Ackerman steering principle and a two-degree-of-freedom vehicle model, and identifying a vehicle turning working condition; 3, the vehicle slip rate is calculated in real time; and 4, according to the slip rate of the vehicle and the relative wheel speed of the rear wheel, the activation condition of the composite braking anti-lock control strategy is set, if the slip rate of the vehicle and the relative wheel speed of the rear wheel both meet the activation condition, the composite braking anti-lock control strategy is executed, and otherwise, the conventional service braking control strategy is executed. According to the method, the turning angle of the