A Hierarchical Road Identification Method for ABS Control

摘要

A hierarchical road identification method is proposed for an anti-lock braking system (ABS) to enhance the braking performance under complicated conditions. The identification is firstly achieved on the wheel layer by fusing the information of wheel slip, wheel acceleration, vehicle acceleration, and pressure increment error between two consecutive control cycles. Then, the identification on the full-vehicle layer is implemented, starting with analyzing the wheels' status acquired from the wheel layer and ending with a further confirmation via comparing the modified wheel slip integral and the braking pressure information between the bilateral wheels. The proposed method is realized in the form of statecharts. A series of simulation experiments are conducted and the results verify the effectiveness of the designed method.