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Integrated Regenerative Braking System and Anti-lock Braking System for Hybrid Electric Vehicles & Battery Electric Vehicles

Ford Motor Company-Yixin Yao, Yanan Zhao, Mark Yamazaki
  • Technical Paper
  • 2020-01-0846
To be published on 2020-04-14 by SAE International in United States
Regenerative braking in hybrid electric vehicles is a critical feature to achieve the maximum fuel economy benefit of hybridization. In order to maximize energy recuperation, it is desired to enable regenerative braking during an Anti-lock Braking System (ABS) event. For certain driveline configurations with a single electric motor connected to the axle shaft through an open differential, it has been observed that the regenerative braking torque can increase the wheel slip during the ABS operation, and significantly impact vehicle dynamics. This negative effect introduced by regen braking during ABS control may also lead to hardware failures, such as breaking a drive shaft. This paper describes development of an integrated regenerative braking and ABS control for hybrid and electric drive vehicles, referred to as RBS-ABS Event Control. This control is intended for drivelines containing a single electric motor connected to the axle shaft through an open differential. The design objectives are to recuperate the maximum amount of kinetic energy during an ABS event, and to provide no degraded anti-lock control behavior as seen in vehicles with…
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An investigation into the Traction and Anti-Lock Braking System Control Design

Ford Motor Company-Ming Kuang, Rajit Johri, Jose Velazquez Alcantar
University of California Davis-Louis Filipozzi, Francis Assadian
  • Technical Paper
  • 2020-01-0997
To be published on 2020-04-14 by SAE International in United States
Wheel slip control is crucial to active safety control systems such as Traction Control System (TCS) and Anti-lock Braking System (ABS) that ensure the vehicle safety by maintaining the wheel slip in a stable region. For this reason, a wide variety of control methods has been implemented by both researchers and in the industry. Moreover, the use of new electro-hydraulic, electro-mechanical brakes and in-wheel electric motors allow for a finer control of the slip, which should further improve the vehicle dynamics and safety. In this paper, we compare two methods for wheel slip control: a loop-shaping Youla parametrization method, and a sliding mode control method. Each controller is designed based on a simple single wheel system. The benefits and drawbacks of both methods are adressed. Finally, the controller performance and stability robustness are then compared based on several metrics in a simulation using a high-fidelity vehicle model with several driving scenarios.
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A Novel Kalman Filter Based Road Grade Estimation Method

FCA US LLC-Cevat Gokcek
  • Technical Paper
  • 2020-01-0563
To be published on 2020-04-14 by SAE International in United States
Accurate, robust and real-time estimation of road grade is extremely important in vehicle control (battery management, transmission shift scheduling, distance-to-empty prediction, anti-lock braking system, collision avoidance, stability control, etc.) to improve safety, stability, efficiency and performance. This paper presents a novel Kalman filter based road grade estimation method using measurements from an accelerometer, gyroscope and tachometer. The accelerometer measures the components of the vehicle acceleration (including the components of the acceleration due to gravity), and the measurements provided by the accelerometer are almost drift free but heavily corrupted by measurement noises. The gyroscope measures the components of the angular velocity of the vehicle, and the measurements provided by the gyroscope are quite clean but disturbed by gyroscope biases. The tachometer measures the longitudinal vehicle velocity, and the measurement provided by the tachometer is also corrupted by measurement noise. The Kalman filter uses the model of the sensors and their outputs, and fuses the sensor measurements to optimally estimate the road grade.
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Vehicle Control History: Data from Driver Input and Pre-Collision System Activation Events on Toyota Vehicles

Toyota Motor North America-Lance Lewis
Toyota Motor North America, Inc.-Barry Hare, Harold Clyde, Robert Landis
  • Technical Paper
  • 2019-01-5094
Published 2019-12-30 by SAE International in United States
Separate from the event data recorder (EDR), which records and stores data from qualifying vehicle crash events, the Vehicle Control History (VCH) on Toyota vehicles records and stores certain vehicle data based on select driver inputs, such as hard acceleration or braking, or upon the activation of certain vehicle dynamic control systems such as antilock braking system (ABS), traction control (TRAC), vehicle stability control (VSC), and the pre-collision system (PCS). In the United States, VCH was first equipped on the 2013 Toyota RAV4 and has been subsequently introduced into other Toyota and Lexus models. Most recently, in addition to VCH data, additional PCS operational data (PCS-O) and image data (PCS-I) may be recorded and stored. The image storage capability may record under certain conditions such as if the system has automatically applied the vehicle brakes. PCS-O and PCS-I data became available with the launch of Toyota Safety Sense (TSS), a grouping of advanced active safety features equipped on many Toyota vehicles generally available in 2017. Multiple dynamic tests with a 2017 Toyota Corolla were performed…
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Truck Tractor Power Outlet for Trailer ABS

Truck and Bus Electrical Systems Committee
  • Ground Vehicle Standard
  • J2247_201912
  • Current
Published 2019-12-17 by SAE International in United States
This SAE Recommended Practice identifies the minimum truck tractor electrical power output of the stop lamp and ABS (antilock brake system) circuits measured at the primary SAE J560 tractor trailer interface connector(s).
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Combi Brake System (CBS) Design and Tuning on an Electric Two Wheeler for Cornering Maneuver

Ather Energy-Lokesh Soni, Shivaram Venkateswaran
Xitadel CAE Technologies India Pvt Ltd.-Dhanraj Domala
  • Technical Paper
  • 2019-28-2399
Published 2019-11-21 by SAE International in United States
To reduce the number of traffic accidents, most of the governments have mandated to include Combi Brake System (CBS) or Anti-lock Braking System (ABS) in two wheelers. While most of the homologation requirements for CBS can be fulfilled by straight line motion, CBS behavior is crucial while cornering for safety aspects. When vehicle is in cornering motion, the lateral forces generated at the tire decreases the effective longitudinal force available, which implies lesser braking force at tire.This paper represents a design methodology for tuning CBS for various critical scenarios mainly during cornering maneuver. A detailed study has been made at various combination of vehicle lean angle, vehicle speed and friction coefficient of road (μ) in straight line and cornering maneuver to effectively decide on front to rear brake force distribution to avoid either of the tires’ lock-up. A co-simulation is done with BikeSim and Simulink softwares, where vehicle model is developed in BikeSim and CBS control algorithm in Simulink. Both the models are correlated against real test data.
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Antilock Brake Systems Energy Consumption Test Procedure for Air-Brake-Equipped Truck Tractors, Buses, Trailers, and Dollies

Truck and Bus Brake Systems Committee
  • Ground Vehicle Standard
  • J2255_201910
  • Current
Published 2019-10-07 by SAE International in United States
This SAE Recommended Practice provides instructions and test procedures for measuring air consumption of air braked vehicles equipped with Antilock Brake Systems (ABS) used on highways.
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Motorcycle Terminology

Motorcycle Technical Steering Committee
  • Ground Vehicle Standard
  • J3133_201909
  • Current
Published 2019-09-24 by SAE International in United States
The motorcycle terminology presented herein addresses two-wheel single track vehicles, as well as motorized three wheel cycles. Although two-wheeled, single track scooters and mopeds are similar to traditional motorcycles, they have many characteristics which differentiate them from motorcycles, and while some terms will apply, this Terminology addresses motorcycles specifically, unless otherwise noted. Likewise, some three wheel cycles may have some similar design features and share components with motorcycle, the dynamics and handling of three wheel vehicles differs from two wheel, single track motorcycles. The terminology presents definitions covering the following subjects: dynamics and handling of single track vehicles, motorcycle categories and types, motorcycle crash dynamics and technology, and in-depth crash investigations, motorcycle design and components, systems, and equipment, motorcycle operation, operational environments and hazards, rider protective equipment including helmets and clothing, rider behaviors, motorcycle safety, competitive motorcycle events and the specialized motorcycles used those events, key national motorcycle-related organization, selected phrases commonly used uniquely by motorcyclists, and related performance measures and selected test criteria. NOTE: Motorcycle emission terminology does not vary from automobile emission terminology…
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Braking Requirements for Optimizing Autonomous Emergency Braking Performance

Applus IDIADA-Álvaro Esquer Molina, Jordi Bargallo
Published 2019-09-15 by SAE International in United States
Vehicle technology new developments have contributed to improve vehicle structural performance and therefore passive protection, but also the inclusion of electronic control units has provided new opportunities to expand active safety systems. This is the case for systems like anti-lock braking systems (ABS), electronic stability control (ESC) and brake assist (BA) among others. A more advanced generation of active systems includes sensorial units that monitor vehicle’s surrounding and detect potential hazards, such as an imminent collision, and performs an automatically and commanded emergency braking to lessen or mitigate the consequences of the impending accident. For this latest system, the so-called autonomous emergency braking (AEB), various consumer testing protocols, such as Euro NCAP protocols [1], propose and periodically update test catalogues in order to evaluate the performance of such systems and later to inform potential consumers.The aim of this study is to investigate the means of improving AEB performance in terms of efficiency and driver acceptance. For this, performance of current AEB system will be studied and compared with the limits of vehicle’s braking capabilities.
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Auxiliary Two-Conductor Electrical Power Connector for Truck-Trailer High-Power Jumper Cable

Truck and Bus Electrical Systems Committee
  • Ground Vehicle Standard
  • J3082_201908
  • Current
Published 2019-08-20 by SAE International in United States
This SAE Standard provides the minimum requirements for high-power, two-conductor jumper cable plug and receptacle for truck-trailer jumper cable systems. It includes the test procedures, design, and performance requirements. This document covers receptacles rated 12 VDC nominal and at more than 30 A (amperes) up to and including 150 A, and is intended for a single circuit with one power conductor and one common return conductor. Single-conductor high-current connectors are not recommended for future designs because of inadequate ground return through fifth wheel/king pin. Cable size selection is to be made by the vehicle OEM for specific applications and the specific voltage drop requirements of those applications. This SAE Standard covers two variants of high-power two-conductor connections: a heavy duty version, with horizontally aligned pins, typically for lift-gate battery charging; and a medium duty version, with vertically aligned pins, typically for loads such as power tarpaulins.
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