Performance Benchmark Characterization and Braking Maneuverability Evaluation of Antilock Braking System with a Self-Developed Test Bench

Abstract

Antilock Braking Systems (ABS) are widely adapted in modern vehicles for enhancing driving safety and maneuverability in braking operation. Their performance and robustness against possible environment variation are thus extremely important. Currently, most ABS related research are usually focused on novel controller design and the above issues are less concerned. However, from whole system performance perspective, such concern must be addressed and essential performance index must be defined and characterized. In this work, these issues are implemented using a commercial available Bosch 9 ABS under a self-designed test bench to serve as the reference product for establishing adequate performance index and their benchmark standards for evaluate the effectiveness of subsequent controller designs. Specifically, the variations of three possible factors: braking oil pressure, tire pressure, and normal contact force, are considered to characterize the maneuverability and performance variations of the Bosch 9 module in five aspects: the first slip peak value, average and standard deviation of slip during operation, and the traditional required braking time and achieved distance under using different riding conditions. In parallel, the effectiveness of the self-developed controller is also characterized under the same conditions. The result shows that the self-designed controller has similar response and robustness as that of ABS 9 against the variations of tire pressure and normal contact force. However, the robustness is inferior against oil pressure, resulting inferior responses. In summary, this study proposes a set of benchmark standards on the reference product as the guidance for performance optimization of self-designed controllers and this should be vital in ABS product design iterations.