Experimental investigations on continuous regenerative anti-lock braking system of full electric vehicle

  • D. Savitski
  • V. Ivanov
  • B. Shyrokau
  • T. Pütz
  • J. De Smet
  • J. Theunissen


Functions of anti-lock braking for full electric vehicles (EV) with individually controlled wheel drive can be realized through conventional brake system actuating friction brakes and regenerative brake system actuating electric motors. To analyze advantages and limitations of both variants of anti-lock braking systems (ABS), the presented study introduces results of experimental investigations obtained from proving ground tests of all-wheel drive EV. The brake performance is assessed for three different configurations: hydraulic ABS; regenerative ABS only on the front axle; blended hydraulic and regenerative ABS on the front axle and hydraulic ABS on the rear axle. The hydraulic ABS is based on a rule-based controller, and the continuous regenerative ABS uses the gain-scheduled proportional-integral direct slip control with feedforward and feedback control parts. The results of tests on low-friction road surface demonstrated that all the ABS configurations guarantee considerable reduction of the brake distance compared to the vehicle without ABS. In addition, braking manoeuvres with the regenerative ABS are characterized by accurate tracking of the reference wheel slip that results in less oscillatory time profile of the vehicle deceleration and, as consequence, in better driving comfort. The results of the presented experimental investigations can be used in the process of selection of ABS architecture for upcoming generations of full electric vehicles with individual wheel drive.

Key words

Anti-lock braking system Electric vehicle Continuous ABS Rule-based ABS 


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Copyright information

© The Korean Society of Automotive Engineers and Springer-Verlag Berlin Heidelberg 2016

Authors and Affiliations

  • D. Savitski
    • 1
  • V. Ivanov
    • 1
  • B. Shyrokau
    • 2
  • T. Pütz
    • 3
  • J. De Smet
    • 4
  • J. Theunissen
    • 4
  1. 1.Automotive Engineering Group, Department of Mechanical EngineeringIlmenau University of TechnologyIlmenauGermany
  2. 2.Department of Precision and Microsystems EngineeringDelft University of TechnologyDelftThe Netherlands
  3. 3.Lucas Varity GmbH, ZF TRWKoblenzGermany
  4. 4.Flanders MakeLommelBelgium

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