An Intelligent Triphase Rule-Based Wheel Slip Controller with Slip Estimation for Heavy Vehicles

Wheel slip regulation (WSR) is an approach to achieve anti-lock braking, where the parameter, wheel slip ratio, is made to operate around a reference value. WSR algorithms can be rule-based or model-based. Model-based solutions require real-time information on vehicle parameters including tire model parameters that increases the challenge in their real-world implementation. Hence, this work proposes a novel triphase rule-based WSR algorithm for Heavy Commercial Road Vehicles, that employ an electro-pneumatic brake system. Since the direct measurement of wheel slip is not feasible, estimates from an Extended Kalman Filter are used to monitor and regulate slip. A real-time reference adaptation scheme is proposed to detect low friction road surfaces. The proposed algorithm is evaluated in a Hardware-in-Loop experimental setup, and shown to adapt to the road surface, prevent wheel lock, and reduce braking distance up to 19 % compared to the case without control.