ABS Based on Sliding-Mode Control and on Force and Moment Measurement

The aim of this paper is to introduce a novel Anti-lock Brake System (ABS) based on Sliding Mode Control (SMC). The control makes use of forces and moments provided by a novel sensorized hub carrier with sensorized brake caliper. SMC ABS performance has been assessed by comparing it with a rule-based ABS logic. The comparison is performed via simulation, using a complex 14-dof vehicle model that is intended to represent a high-performance sports car. The SMC ABS relies on the vertical force, lateral force, longitudinal force at the tire and brake torque. Such measurements are used to estimate the friction coefficient between the tire and the road surface. A full brake maneuver has been simulated in multiple scenarios either with dry tarmac, with wet tarmac or μ-split. The results indicate that the novel ABS allows a reduction in braking distance compared to the traditional ABS, particularly on low-friction roads. This improvement is attributed to the system’s ability to rapidly identify the road’s friction coefficient and adjust the brake torque in order to maximize the longitudinal tire performance.