A simplified ABS numerical model: Comparison with HIL and full scale experimental tests

Antilock braking systems (ABS) have been introduced on all passenger cars in recent years. This electronic control system prevents wheels from locking-up and so improves braking performance while ensuring the steerability of the car. Modeling the ABS is essential in order to simulate the vehicle behavior during braking and to achieve a good agreement between the vehicle model and the experimental data. An hardware in the loop test bench has been realized to test an industrial ABS control unit, thus allowing the development of anumerical model of the antilock braking system. Several braking simulations have been carried out to make acomparison between the implemented ABS model and the real antiskid system tested in the HILS platform. Moreover, a validation of the model has been carried out, comparing the ABS model, integrated within a 14 d.o.f. vehicle model, and the experimental data collected on an instrumented passenger car during various kind of braking maneuvers.