This study aims to provide quantitative insight into the sensitivity of tyre parameters on the performance of the anti-lock braking system (ABS) control algorithms. Unlike conventional sensitivity analysis methods, which depend on a few test cases, in this study, Magic Formula (MF) 6.1 tyre model is used to generate a comprehensive set of thousands of virtual tyres that encompasses all possible combinations of the four main longitudinal parameters. To broaden the scope of impact of this study, two ABS controllers – one based on wheel spin acceleration (literature version of Bosch ABS) and the other based on sliding mode control (SMC) are designed in MATALB-Simulink${}^{\circledR }$ and integrated with IPG Carmaker${}^{\circledR }$ to perform complete vehicle dynamics simulations. Straight-line ABS simulations are performed on dry asphalt road using both the controllers and each test-run is performed for five different set-point longitudinal slip ratios (${\lambda }_{ref}$). The results of the conditional variance-based sensitivity analysis consisting of 211,250 simulation tests indicate that the tyre peak friction coefficient and shape factor have significant contributions to ABS stopping distance. The sensitivity for stopping distance to tyre parameters varies amongst the controllers. While with Bosch algorithm parameter D almost completely controls the stopping distance, the sliding mode ABS is sensitive to parameters ${\lambda }_{ref}$, C and D. Tyre parameter interactions indicated by the factor $K=B\ast C\ast D$, though hard to visually interpret, is expounded using global sensitivity analysis metrics.

本研究旨在定量分析轮胎参数对防抱死制动系统 (ABS) 控制算法性能的敏感性。与依赖于少数测试案例的传统灵敏度分析方法不同，在本研究中，Magic Formula (MF) 6.1 轮胎模型用于生成包含数千个虚拟轮胎的综合集合，其中包含四个主要纵向参数的所有可能组合。为了扩大本研究的影响范围，在 MATALB-Simulink 中设计了两个 ABS 控制器——一个基于车轮旋转加速（博世 ABS 的文献版本），另一个基于滑模控制 (SMC)${}^{\circledR }$ 并与 IPG Carmaker 集成${}^{\circledR }$执行完整的车辆动力学模拟。使用两个控制器在干燥的沥青路面上进行直线 ABS 模拟，并且每次试运行针对五个不同的设定点纵向滑移率（${\lambda }_{reF}$）。由 211,250 个模拟测试组成的基于条件方差的敏感性分析结果表明，轮胎峰值摩擦系数和形状因子对 ABS 制动距离有显着贡献。停止距离对轮胎参数的敏感度因控制器而异。使用 Bosch 算法参数D几乎完全控制了停车距离，而滑模 ABS 对参数很敏感${\lambda }_{reF}$, C和D。 _ 由因子指示的轮胎参数交互作用$ķ=乙*C*D$，虽然难以直观地解释，但使用全局敏感性分析指标进行了阐述。