Knowledge of the tyre-road interface traction limit during braking of a road vehicle can drastically improve safety and ensure stable braking on varied road conditions. This study proposes an optimal reference slip algorithm that determines the road surface while the vehicle is braking, by implicitly tracking the traction limit. It presents wheel slip variance regulation as a potential approach towards reference wheel slip estimation for wheel slip regulation (WSR). The variance regulation approach computes reference wheel slip using past wheel slip estimates and regulates wheel slip variation at a set point. This variance regulation problem was solved using least-squares estimation, yielding reference slip dynamics. A 3-staged nested control architecture was developed with reference slip dynamics to yield an anti-lock braking system (ABS) algorithm consisting of a brake controller, WSR algorithm and reference slip estimation. The algorithm was experimentally corroborated in a Hardware-in-Loop setup consisting of the pneumatic brake system of a heavy commercial road vehicle, and IPG TruckMaker^®, a vehicle dynamics simulation software. The proposed ABS algorithm was tested on straight roads with homogeneous surfaces, split friction surfaces, and transition friction surfaces. It ensured stable braking in all road cases, with a 7%–18% reduction in braking distance on homogeneous road surfaces compared to the same vehicle without ABS. The vehicle directional stability was retained on a split-friction surface, and the ABS algorithm was observed to adapt to sudden transitions in the road surface.

了解道路车辆制动期间的轮胎-道路界面牵引力极限可以显着提高安全性并确保在各种道路条件下稳定制动。本研究提出了一种最佳参考滑移算法，该算法通过隐式跟踪牵引力限制来确定车辆制动时的路面。它提出了车轮滑移方差调节作为车轮滑移调节 (WSR) 的参考车轮滑移估计的潜在方法。方差调节方法使用过去的车轮滑移估计计算参考车轮滑移，并在设定点调节车轮滑移变化。使用最小二乘估计解决了这个方差调节问题，产生了参考滑动动力学。使用参考滑动动力学开发了 3 级嵌套控制架构，以产生由制动控制器、WSR 算法和参考滑动估计组成的防抱死制动系统 (ABS) 算法。该算法在硬件在环设置中得到了实验证实，该设置由重型商用公路车辆的气动制动系统和 IPG TruckMaker 组成^®，一种车辆动力学仿真软件。所提出的 ABS 算法在具有均质表面、分裂摩擦表面和过渡摩擦表面的笔直道路上进行了测试。它确保了在所有道路情况下的稳定制动，与没有 ABS 的相同车辆相比，在均匀路面上的制动距离减少了 7%–18%。在分裂摩擦表面上保留了车辆方向稳定性，并且观察到 ABS 算法能够适应路面的突然转变。