Because of the nonlinear feature of tire force, the anti-lock braking system (ABS) research based on wheel slip control (WSC) is widely used even without the measured wheel slip and road friction. Combined with the WSC technology, the four-wheel ABS with the fuzzy sliding mode (FSM) control method is introduced in this paper. Unlike most single-wheel independent ABS, this design has more advantages when braking under the unusual road conditions, such as the transition of road conditions, the split-road conditions between the left-side wheels and the right-side wheels, even the extreme situation in which road conditions of each wheel are different, as it has the smooth-braking judgment module that is designed for wheel-to-wheel control. Besides, based on the nonlinear function of the tire-road interaction (TRI) model, the designed road condition detection module provides characteristics of the braking road that are required in the ABS operation. The model of vehicle and tire is established in Simulink by using parameters of a vehicle: BYD F0. The effectiveness of the proposed four-wheel ABS is validated through the combined use of MATLAB and RT-lab and via substantial simulations and RT-LAB co-simulations.

中文翻译：

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复杂路况稳健适应的四轮防抱死制动系统


由于轮胎力的非线性特征，即使在没有测量车轮滑移和路面摩擦力的情况下，基于车轮滑移控制（WSC）的防抱死制动系统（ABS）研究也得到广泛应用。结合WSC技术，介绍了采用模糊滑模（FSM）控制方法的四轮ABS。与大多数单轮独立ABS不同，这种设计在异常路况下制动时更具优势，例如路况过渡、左右轮分叉路况，甚至是极端路况。具有专为轮对轮控制而设计的制动平稳判断模块，可应对各个车轮路况不同的情况。此外，基于轮胎-道路相互作用（TRI）模型的非线性函数，所设计的路况检测模块提供了ABS操作所需的制动道路特征。利用车辆：比亚迪F0的参数，在Simulink中建立车辆和轮胎模型。通过结合使用 MATLAB 和 RT-lab，并通过大量仿真和 RT-LAB 联合仿真，验证了所提出的四轮 ABS 的有效性。