Title: Practical ideas on slip controller activation criterion, slip estimator initialisation and optimiser interface

Authors: Hamed Kashani

Addresses: Aerospace Research Institute (ARI), Shahrak-e-Gharb, Tehran, Iran

Abstract: A simple non-linear filter and a rule-based controller are chosen to form the loop of slip control algorithm. Low-computation cost is the advantage of this algorithm, but for practical usage it should be improved. This paper introduces a new optimum and adaptive activation criterion for the controller. The original employed estimator becomes cognisant about road condition and brake intensity using Kalman-Bucy Filter (KBF). To keep the computational advantage of the algorithm, KBF with the simplest structure is used only as an initialiser. The estimation process, between KBF and non-linear filter, needs a middle stage. This gap is filled with piecewise linear models of friction. Simulation and resultant key performance indicators of the whole algorithm with above improvements in various road conditions prove its capability to control slip.

Keywords: anti-lock brake; non-linear estimator; ABS activation; Kalman-Bucy filter; slip estimator; slip control; ECE R13-H; KPI; key performance indicator.

DOI: 10.1504/IJVAS.2022.133020

International Journal of Vehicle Autonomous Systems, 2022 Vol.16 No.2/3/4, pp.204 - 221

Received: 06 May 2022
Received in revised form: 23 Nov 2022
Accepted: 16 May 2023
Published online: 24 Aug 2023 *

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