Implementation of pedal feeling for Brake By Wire system using bilateral control

Brake-by-wire means that the direct mechanical link between brake pedal and braking cylinder is completely replaced by an electromechanical braking system. This concept, originally used for aircraft and military only, has distinct advantages for implementing in new car designs. However brake pedal feeling should be identical to the conventional brake pedal. Ideally, the pedal should behave like a conventional brake. Bilateral control is proposed to be used to for brake by wire system. In conventional brake system, a physical spring is used to move the pedal to its ldquopedal parking positionrdquo. In this study, this spring is replaced by a virtual spring. Virtual spring damper model is used within the bilateral control system. Experiment uses a bilateral controlled master slave system. Even though this experiment system is not a brake by wire system, this bilateral system is capable enough to show the applicability of the proposed concept. Braking feeling could be transferred from the slave side to the pedal. Virtual spring behaved identically to a physical spring.