The Integrated Vehicle Longitudinal Control System for ABS and TCS

This paper proposes the vehicle longitudinal controller for the Anti-lock Braking System(ABS) and Traction Control System(TCS). The sliding mode control scheme without a sign function is used to design a controller. Instead of a sign function, the adaptation mechanism is used to reduce the actuator chattering as a problem of the sliding mode control. The proposed systems use the equivalent model from engine to wheel to control the brake and engine actuator. Using the integrated logic frame, it reduces the computation load of Electrical Control Unit(ECU) equipped on the vehicle and make integrating a variety of vehicle stability controllers such as ABS, TCS, and ESC(Electronic Stability Control) more easily. The proposed systems are made up of three sub-systems, which are the vehicle state estimator, vehicle state controller and vehicle actuator controller. The performance of the proposed system is verified with a variety of standard ABS and TCS test conditions using the CarSim.