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<p>Superior braking performance is a vital aspect of advanced autonomous vehicles, serving as a key factor in ensuring safe driving. To improve the anti-lock braking system (ABS) performance in electro-mechanical braking (EMB) system, an ABS control strategy is proposed, which is based on the road identification method with preset slip ratio. The strategy addresses the slow initial response of peak adhesion coefficient identification by presetting slip ratio targets, and combines an improved extended state observer with a continuously smooth Tfal(·) function for road identification, thereby enhancing the estimation accuracy of the adhesion coefficient. In addition, an integral sliding mode controller (SMC) is designed to track the optimal slip ratio. Simulation results demonstrate that, compared to the ABS control strategy with peak adhesion coefficient method, the proposed strategy can reduce the controller response time by 12.2% and 18.75% respectively under single high-adhesion and low-adhesion road surfaces, with the corresponding identification time decreased by 23.3% and 28.5%; under variable road conditions, it reduces the controller response time by 17.6%, the initial identification time by 25.6%, and the braking distance by 4.7%. Therefore, this strategy can quickly adapt to various road conditions and effectively enhance the braking safety of vehicles.</p>

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An ABS Control Strategy for EMB System Based on the Improved Road Identification Method with Preset Slip Ratio

  • 期刊论文

  • 发表日期：

    2026年3月27日

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  • Leiyan Yu,
  • Zhendong Chen,
  • Shilong Liu,
  • Jinyuan Zhao,
  • Huawei Zhao,
  • Jie Liu

摘要

Superior braking performance is a vital aspect of advanced autonomous vehicles, serving as a key factor in ensuring safe driving. To improve the anti-lock braking system (ABS) performance in electro-mechanical braking (EMB) system, an ABS control strategy is proposed, which is based on the road identification method with preset slip ratio. The strategy addresses the slow initial response of peak adhesion coefficient identification by presetting slip ratio targets, and combines an improved extended state observer with a continuously smooth Tfal(·) function for road identification, thereby enhancing the estimation accuracy of the adhesion coefficient. In addition, an integral sliding mode controller (SMC) is designed to track the optimal slip ratio. Simulation results demonstrate that, compared to the ABS control strategy with peak adhesion coefficient method, the proposed strategy can reduce the controller response time by 12.2% and 18.75% respectively under single high-adhesion and low-adhesion road surfaces, with the corresponding identification time decreased by 23.3% and 28.5%; under variable road conditions, it reduces the controller response time by 17.6%, the initial identification time by 25.6%, and the braking distance by 4.7%. Therefore, this strategy can quickly adapt to various road conditions and effectively enhance the braking safety of vehicles.