Investigation of a Combined Slip Control Braking and Closed Loop Four Wheel Steering System for an Automobile During Combined Hard Braking and Severe Steering

Conventional anti-lock braking systems (ABS) permit automobiles to achieve short stopping distance with good directional control and stability during moderate manuevers. However, during emergency maneuvers where hard braking is combined with severe steering, normally stable (i.e., understanding) cars, even those equipped with ABS, can spin out due to a change to an unstable oversteer condition. In this work, a new Slip Control Braking System (SCBS) is introduced. The SCBS control algorithm for longitudinal tire slip was based on the sliding mode control method and can maintain pre-specified slip values for both the front and the rear axles. These desired slip values were gain-scheduled as a function of front wheel steer angle. The longitudinal slip control system was then combined with a gain-scheduled, closed loop, four wheel steering system. Simulations of hard braking combined with severe steering indicate that the combined action of the controllers results in a vehicle that can maintain directional control and stability in situations where the vehicle equipped with only four wheel steering and conventional ABS or only the SCBS system looses control and spins out.