Experimental study on braking and stability performance during low speed braking with ABS under critical road conditions

Köylü H., Tural E.

ENGINEERING SCIENCE AND TECHNOLOGY-AN INTERNATIONAL JOURNAL-JESTECH, vol.24, no.5, pp.1224-1238, 2021 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 24 Issue: 5
  • Publication Date: 2021
  • Doi Number: 10.1016/j.jestch.2021.02.001
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus, INSPEC, Directory of Open Access Journals
  • Page Numbers: pp.1224-1238
  • Keywords: Anti-lock brake system, Low speed, Braking, Stability, Critical road, WHEEL SLIP CONTROL
  • Kocaeli University Affiliated: Yes


During braking with ABS (Anti-Lock Brake System), low braking initial speed causes to build-up and reduce brake pressure in longer time period due to extending application time of brake pressure and response time of solenoid valve. Also, the decision about speed and acceleration variations of wheel becomes very difficult due to weak speed signals arising from low speed. This results in lower braking torque than needed on the wheels. Therefore, effects of weak wheel speed signal become more pronounced in critical road conditions due to sudden changes in wheel speed. In this study, the effects of these problems occurring in low speed were investigated on both control and braking performance of ABS under critical road conditions. For this, ABS tests were carried out for low and high speeds on four different road types, which include slippery, wet and mu-jump tests (from wet to slippery and from slippery to wet). In this way, the results were compared to both vehicle speed and road type. The test results show that the low speed worsens braking stability, control and braking performance of ABS, regardless of road conditions. For this reason, it is proposed that ABS control algorithm must be divided in two parts as low and high speed control. (C) 2021 Karabuk University. Publishing services by Elsevier B.V.