Wheel Speed Control for Corner Module ABS with Full Brake-By-Wire System

The electro-mechanical brake (EMB), with its continuous torque control characteristic, can enhance the performance of anti-lock braking control in intelligent chassis system. Therefore, in this study, a corner module anti-lock braking system (ABS) using EMB is proposed for intelligent chassis driven by in-wheel motors (IWMs). The corner module design can directly utilize the high-bandwidth speed signal of the IWM. This transforms traditional ABS wheel slip rate control into low-latency, high-bandwidth wheel speed tracking control under strong transient conditions. As a result, the control loop is simplified and signal transmission delay is reduced, which allows EMB to fully exploit its performance advantages. Additionally, this study proposes an Improved Higher-order Sliding Mode Control strategy with Super-Twisting Algorithm (IHSMC-STA) for wheel speed tracking control. The proposed strategy enhances the traditional first-order sliding mode exponential reaching law and integrates the Super-Twisting Algorithm to achieve high-precision and robust ABS control. Finally, experimental validation is conducted through both single-wheel ABS test bench and real vehicle testing. The results demonstrate that the proposed corner module ABS system achieves faster response and enhanced stability in anti-lock braking control under various road surface conditions, thereby confirming the effectiveness of the developed approach.