Wheel slip control for ground vehicles with individually controlled electric motors can be realized with strategies that can significantly differ from the conventional antilock braking system (ABS) and traction control (TC) system. This paper provides a review of state-of-the-art technology and recent developments in TC and ABSs using the actuation of electric motors. Particular attention is paid to the realization of slip estimators, the formalization of torque demand, and the control methods applied for the implementation of TC and ABSs. The performed analysis allowed for the differentiation of several most elaborated methods for slip and torque control and defining still imperfectly investigated problems to be covered by the further development of TC and ABSs for full electric vehicles.

This paper presents an in-depth analysis of the application of different techniques for vehicle state and tyre force estimation using the same experimental data and vehicle models, except for the tyre models. Four schemes are demonstrated: (i) an Extended Kalman Filter (EKF) scheme using a linear tyre model with stochastically adapted cornering stiffness, (ii) an EKF scheme using a Neural Network (NN) data-driven linear tyre model, (iii) a tyre model-less Suboptimal-Second Order Sliding Mode (S-SOSM) scheme, and (iv) a Kinematic Model (KM) scheme integrated in an EKF. The estimation accuracy of each method is discussed. Moreover, guidelines for each method provide potential users with valuable insight into key properties and points of attention.

This study addresses the development and Hardware-in-the-Loop (HiL) testing of an explicit nonlinear model predictive controller (eNMPC) for an anti-lock braking system (ABS) for passenger cars, actuated through an electro-hydraulic braking (EHB) unit. The control structure includes a compensation strategy to guard against performance degradation due to actuation dead times, identified through experimental tests. The eNMPC is run on an automotive rapid control prototyping unit, which shows its real-time capability with comfortable margin. A validated high-fidelity vehicle simulation model is used for the assessment of the ABS on a HiL rig equipped with the braking system hardware. The eNMPC is tested in 7 emergency braking scenarios, and its performance is benchmarked against a proportional integral derivative (PID) controller. The eNMPC results show: i) the control system robustness with respect to variations of tire-road friction condition and initial vehicle speed; and ii) a consistent and significant improvement of the stopping distance and wheel slip reference tracking, with respect to the vehicle with the PID ABS.

Since their introduction, anti-lock braking systems (ABS) have mostly relied on heuristic, rule-based control strategies. ABS performance, however, can be significantly improved thanks to many recent technological developments. This work presents an extensive review of the state of the art to verify such a statement and quantify the benefits of a new generation of wheel slip control (WSC) systems. Motivated by the state of the art, as a case study, a nonlinear model predictive control (NMPC) design based on a new load-sensing technology was developed. The proposed ABS was tested on Toyota’s high-end vehicle simulator and was benchmarked against currently applied industrial controller. Additionally, a comprehensive set of manoeuvres were deployed to assess the performance and robustness of the proposed NMPC design. The analysis showed substantial reduction of the braking distance and better steerability with the proposed approach. Furthermore, the proposed design showed comparable robustness against external factors to the industrial benchmark.

Modern and coming generations of electric and automated vehicles are characterized by higher requirements to robust and fault-tolerant operation of chassis systems independently from driving situations and road conditions. In this regard, this paper introduces an adaptive continuous wheel slip control (WSC) developed for the sport utility vehicle equipped with a high-dynamic decoupled electrohydraulic brake system. The system architecture, mathematical formulation of the WSC and state estimator as well as the experimental WSC validation is described in this paper. The focus is given on three continuous WSC strategies based on proportional integral (PI), sliding-mode PI and integral-sliding-mode control techniques. The proposed WSC also includes the state and parameter estimator for the adaptation of the reference wheel slip depending on current road conditions and using the standard on-board vehicle sensors and extremum-seeking algorithm. Adaptability and robustness of all WSC configurations were confirmed by the road experiments performed on low- and high- $ \mu$ surfaces with mandatory condition of the same controls adjustments for all test cases. Tests show an enhancement of the vehicle safety and ride quality, compared to the vehicle with the rule-based WSC control.