Anti-lock Braking

Overview

✓ Introduction
✓ What is ABS
✓ Timeline of ABS
✓ Motivation for development
✓ Simple hydraulic braking system
✓ Principles of ABS
✓ Components
✓ Working
✓ Types
✓ Advancements
✓ Advantages & Disadvantages
✓ summary
 Introduction

❖ Conventional braking system - Wheel lockup

❖ Reduces steering ability - vehicle slides out of control
❖ Anti-lock Braking system (ABS) – Driver can break hard- No locking of
wheels
 What is ABS ?
❖ Anti-lock braking system (ABS) - automobile safety
system
❖ Prevent wheel locking
❖ Skidding wheel - less traction than a Non-skidding wheel
❖ Anti-lock brakes benefit
Can stop faster
Steer while you stop
Preventing skidding
Maintain traction
 Timeline

1929 : ABS first developed for aircraft by the French automobile developer
Gabriel Voisin
1936: German company Bosch patented “Apparatus for preventing lock-braking
of wheels in a motor vehicle”
1936-: Bosch and Mercedes-Benz partner - R&D into ABS
1972: WABCO partners with Mercedes-Benz developing ABS for trucks
1978: First production-line ABS into Mercedes and BMW vehicles
1981: 100,000 Bosch ABS installed
1985: First ABS installed on US vehicles
1986: 1M Bosch ABS installed.
1987: Traction control - with ABS
1989: ABS hydraulic unit combined with standard hydraulic brake unit
1992: 10M Bosch ABS installed
1995: Electronic Stability - with ABS and TCS - for passenger cars
1999: 50M Bosch ABS installed
2000: 6 of 10 new cars on the road are ABS equipped
2003: 100M Bosch ABS installed
Present: Almost all new cars have ABS
More features – ESP – EBD – Cruise control – Auto Brake Assist
Motivation for ABS development

Under hard braking – Ideal system should

➢ Provide the shortest stopping distances

on all surfaces
➢ Maintain vehicle stability and steer ability.
Simple Hydraulic Braking system

Consists of

❖ Master cylinder
❖ Four wheel cylinders
 Simple Hydraulic Braking system

Pistons
Fluid
pushes Brake
pushes Wheels
Brakes fluid shoes Vehicle
pistons get
Applied from pushed stops
of wheel locked
Master out
cylinders
cylinder
Principles of ABS
❖ When brakes applied- vehicle speed comes down
❖ Decrease in vehicle speed not always proportional to decrease in wheel speed
❖ Non-correspondence - Slip
❖ Magnitude measured as Slip ratio

Slip ratio = [(Vehicle speed – Wheel speed)/Vehicle speed ] × 100%

When
Slip ratio = 0% : Vehicle speed corresponds exactly to wheel speed
Slip ratio = 100% : Wheels locked - vehicle moves
❖ Best braking action between
10-20%.

❖ If vehicle speed and wheel

speed is the same wheel
slippage is 0%

❖ A lock-up wheel will have a

wheel slippage of 100%

(A) Slip ratio (1) Icy road

(B)Coefficient of friction (2) Asphalt-paved road
between tire and road surface (3) Control range by ABS
 Pressure
Modulation in
ABS
❖ Release and reapply of the brake pedal – avoid locking of wheels - avoid the
skidding
❖ Antilock braking system does the same
❖ Brakes applied - pressure is quickly applied & released at the wheels - pressure
modulation
❖ Pressure modulation prevent the wheel locking
❖ ABS modulate the pressure 15 times per seconds
❖ ABS precisely controls the slip rate of wheels - ensure maximum grip force from
the tyre - ensures maneuverability and stability
 ABS
Components
Overview

1. Hydraulic Unit
2.Electronic Brake Control Module [EBCM]
3.Four wheel speed sensors
4.Interconnecting wiring
5.ABS indicator
 ABS Components Overview
(1)ABS control module and
hydraulic control unit (ABSCM &
H/U)
(2) Two-way connector
(3) Diagnosis connector
(4) ABS warning light
(5) Data link connector
(6) Transmission control module
(AT models only)
(7) Tone wheels
(8) ABS wheel speed sensor
(9) Wheel cylinder
(10) G sensor
(11) Stop light switch
(12) Master cylinder
(13) Brake & EBD warning light
(14) Lateral G sensor
ABS components

ABS systems are

❖ Integrated
❖ Non- integrated
 ABS components

ABS has four Primary Components

❖ ABS Controller
❖ ABS Speed Sensors
❖ ABS Modulator/Valves
❖ ABS Pumps
 Working of ABS

Under normal braking

❖ Brakes applied
❖ No current flow from ECU to hydraulic unit
❖ Solenoid valves not energized – brake master cylinder pressure
reaches wheels Vehicles stops
❖ ABS not involved - Still ECU monitors each wheel for lock- up
 Working of ABS
When wheel lock-up sensed

❖ Wheel sensors senses a wheel lock-up

❖ ECU sends a current to hydraulic unit
❖ The solenoid valve gets energised
❖ Valve isolates the brake circuit from master cylinder
❖ Stops the braking pressure at wheel rising – kept it constant
 Working of ABS

Still wheel deceleration is rapid

❖ ECU sends larger current to hydraulic unit

❖ Armature of Hydraulic unit moves faster
❖ Opens a passage : Brake circuit – Master cylinder
❖ Pressure in brake caliper reduced
 Working of ABS

When wheel is accelerated again

❖ ECU stops current to Hydraulic unit

❖ De-energises the solenoid valve
❖ Pressure is build up
❖ The cycle repeats several times in a second
❖ Vehicle stops safely
Working of solenoid valve in ABS

It has 3 modes

❖ Increase pressure
❖ Hold pressure
❖ Decrease pressure
 Increase pressure
Solenoid 1
Pressure increase

Solenoid 2
Pressure decrease/Vent solenoid

Brake line under pressure

Brake fluid line not under pressure

 Pressure hold

Solenoid 1
Pressure increase

Solenoid 2
Pressure decrease/Vent
 Pressure decrease

Solenoid 1
Pressure increase

Solenoid 2
Pressure decrease/Vent
 Types of ABS

Three types

❖ Four channel – Four sensor ABS

❖ Three channel – Three sensor ABS
❖ One channel – One sensor ABS
 Advancements

❖ Automatic Stability Control / Electronic Stability Control

(Program) - ESP
❖ Automatic Traction Control - ATC
 Automatic Stability Control / Electronic Stability Program - ESP

Components

Yaw rate sensor

ESP hydraulic control unit
Steering angle sensor
G sensor
Wheel speed sensors
ECU
 Operation

Under normal driving

❖ ESC works in background- monitors steering & vehicle direction

❖ Determines intended direction – steering angle sensor
❖ Determines vehicle’s actual direction- yaw sensor- wheel speed sensors
❖ Compares the obtained data
 Operation

When detects a loss of steering control

❖ Detects – Understeer or Oversteer

❖ ESC estimates direction of speed
❖ Applies brakes to individual wheels asymmetrically
❖ Create torque about vehicle’s vertical axis- oppose skid
❖ Brings vehicle back to control
❖ Additional operation – reduces engine power, operate transmission
Oversteer Understeer
 Automatic Traction Control - ATC

❖ Apply brakes when drive wheel attempts to spin and lose traction
❖ A secondary function of ESP
❖ Activated when throttle input & engine torque is mismatched to road
surface conditions
 Automatic Traction Control - ATC

ATC intervention consists of the following

❖ Brake force applied to one or more wheels

❖ Reduction or suppression of spark sequence to one or more cylinders
❖ Reduction of fuel supply to one or more cylinders
❖ Closing the throttle
 Components of
traction control
❖ The main hardware for traction control and ABS are same
❖ Wheel sensors
❖ ECU
❖ ATC valve
 Advantages of ABS

❖ Reduce the stopping distance.

❖ Steer while the brakes are firmly applied.
❖ Maintain directional stability and control over steering during braking.
❖ Safe and effective.
❖ Automatically changes the brake fluid pressure at each wheel to maintain
optimum brake performance.
❖ ABS absorbs the unwanted turbulence shock waves.
 Disadvantages of ABS

❖Increased braking distances under

some limited circumstances
❖ cost

❖Maintenance cost of a car

equipped with ABS is more
❖ System damage
 Summary
➢The antilock braking system controls braking force by controlling the
hydraulic pressure of the braking system, so that the wheels do not lock
during braking.
➢The antilock braking system prevents wheels locking or skidding, no matter
how hard brakes are applied, or how slippery the road surface. Steering stays
under control and stopping distances are generally reduced.
 Refer
ences
1 “Effectiveness of ABS and vehicle stability control systems”(PDF). Royal
Automobile Club of Victoria. April 2004.
2 “Non-skid braking” Flight International. 30 October 1953. pp. 587–588.
3 “Chrysler Imperial Sure Brake system description”. ImperialClub.org
4 "Electronic Stability Control (ESC)" . nhtsa.gov
5 Heibing, Bernd (2011), Chassis Handbook Springer, ISBN9783834897893
[5] "Speed With Style", Cycle World, June 1992, ISSN0011-4286