Development of antilock braking controller using hardware in-the-loop simulation and field test

This paper presents the control principles and algorithms for the antilock brake system (ABS) with pneumatic brake. Also a new simulation method, the hardware in-the-loop simulation (HILS), which includes hardware in the control and simulation loop, is presented. It includes pneumatic brake hardware between the controller input and simulated vehicle dynamics output. How to construct the HILS for antilock brake system of a vehicle is described. Also how to evaluate the antilock brake algorithms and electronic control unit (ECU) in laboratory is explained. If the HILS is used, functional tests of the newly developed antilock brake controller can be made in a short time using repeated experiments. As a result, times and costs needed for developing the new antilock brake controller can be reduced. Also the developed controller was equipped in a real vehicles and tested in the real test road for comparison. It can be said that the HILS is a good method for developing a new system especially in automotive applications, in which many trial and errors are required for practical implementation.