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(ABS)
Anti-lock Braking System
Anti-lock Braking System
 Index
 What is an Anti-Lock Braking System (ABS)?
Anti-lock Braking System

 History of ABS
 Motivation for ABS Development
 Overview
 Principles for ABS Operation
 ABS Components Overview
 ABS Components
 Subaru Impreza ABS Application.
 How does ABS work?
 How ABS Work (Video)
 System Diagram
 Anti-Lock Brake Types
 ABS Configurations
 Design Challenges
 Advantages & Disadvantages
 ABS Problems
 General information
 Summary
 Common questions
Anti-lock Braking System What is (ABS)?

Anti-lock braking system (ABS) is

an automobile safety system
prevent the wheels of a vehicle
locking as brake pedal pressure is
applied - often suddenly in an
emergency or short stopping
distance. This enables the driver to
have steering control, preventing
skidding and loss of traction.
Anti-lock Braking System History of ABS

• 1929 :- ABS was first developed for aircraft by the

French automobile and aircraft pioneer Gabriel Voisin,
as threshold braking on airplanes is nearly impossible.
• 1936: German company Bosch is awarded a patent an
“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
first ABS for trucks.
• 1978: First production-line installation of ABS into
Mercedes and BMW vehicles.
• 1981: 100,000 Bosch ABS installed.
• 1985: First ABS installed on US vehicles.
Anti-lock Braking System History of ABS

• 1986: 1M Bosch ABS installed.

• 1987: Traction control - in conjunction with
ABS – used on passenger vehicles.
• 1989: ABS hydraulic unit combined with
standard hydraulic brake unit
• 1992: 10M Bosch ABS installed.
• 1995: Electronic Stability - in conjunction 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.
• Nowadays:- Almost all new cars have ABS.
Anti-lock Braking System Motivation for ABS Development

• Under hard braking, an ideal braking system should:

 Provide the shortest stopping distances

on all surfaces

 Maintain vehicle stability and steer ability.

Anti-lock Braking System Overview

Many different control methods for ABS systems

have been developed. These methods differ in
their theoretical basis and performance under the
changes of road conditions.

ABS
Research

Classical Optimal Nonlinear Robust Adaptive Intelligent

Control Control Control Control Control Control

Figure 1. Sampling of ABS control

Anti-lock Braking System Principles for ABS Operation

When the brake pedal is depressed during driving, the

wheel speed decreases and the vehicle speed does as
well. The decrease in the vehicle speed, however, is not
always proportional to the decrease in the wheel speed.
The non-correspondence between the wheel speed and
vehicle speed is called “slip” and the magnitude of the
slip is expressed by the “slip ratio” which is defined as
follows:
Slip ratio = (Vehicle speed – Wheel speed)/Vehicle speed × 100%
When the slip ratio is 0%, the vehicle speed corresponds
exactly to the wheel speed. When it is 100%, the wheels
are completely locking (rotating at a zero speed) while
the vehicle is moving.
See Fig 2.
Anti-lock Braking System

Figure 2. Illustration of the relationship between braking

coefficient and wheel slip
•The best braking action
occurs at 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 between tire (2) Asphalt-paved road
and road surface (3) Control range by ABS
Anti-lock Braking System Principles for ABS Operation

• Figure 2 shows the relationship between braking

co-efficient and wheel slip. It is shown that the
slide values for stopping/traction force are
proportionately higher than the slide values for
cornering/steering force. A locked-up wheel
provides low road handling force and minimal
steering force.
Anti-lock Braking System Principles for ABS Operation

The main benefit from ABS operation is to

maintain directional control of the
vehicle during heavy braking in rare
circumstances
Anti-lock Braking System ABS Components Overview

Hydraulic unit. The ABS indicator

 Electronic brake control module The rear drum brake.
(EBCM).
Two system fuses.
Four wheel speed sensors.
 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 (for SUBARU
select monitor).
(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 (STi).
Anti-lock Braking System ABS Components

• ABS brake system are

– Integrated
• An integrated system has the master
cylinder and control valve assembly made
together.

– Nonintegrated
• A nonintegrated has the master cylinder
and control valve assembly made separate.
Anti-lock Braking System ABS Components

• ABS systems consist of 4 primary

components:
1- ABS Controller; the brains of the
system. ABS Controllers are a computer
that reads the inputs and then controls the
system to keep the wheels from locking up
and skidding.

2- ABS Speed Sensors; there are

generally one on each wheel (sometimes
they are located on the differential).
It detects a change in acceleration in the
longitudinal direction of the vehicle and
outputs it to the ABSCM as a voltage signal.
Anti-lock Braking System ABS Components

3- ABS Modulator/Valves; some system

have separate valves for each wheel with a
modulator to control them. Other systems
they are combined. In either case they
work with the controller and the pump to
add or release pressure from the individual
wheels brakes to control the braking.

4- ABS Pumps; since the ABS

modulator/valves can release pressure from
the individual wheels brakes there needs to
be a way to restore the pressure when
required. That is what the ABS pumps job
is. When the pump is cycling, the driver
may experience a slight pedal vibration.
This cycling is happening many times per
second and this slight vibration is natural.
 Subaru Impreza ABS Application.

(1) ABS control module and hydraulic

control unit
(2) ABS control module section
(3) Valve relay
(4) Motor relay
(5) Motor
(6) Front left inlet solenoid valve
(7) Front left outlet solenoid valve
(8) Front right inlet solenoid valve
(9) Front right outlet solenoid valve
(10) Rear left inlet solenoid valve
(11) Rear left outlet solenoid valve
(12) Rear right inlet solenoid valve
(13) Rear right outlet solenoid valve
(14)Automatic transmission control
Module
(15) Diagnosis connector
 Subaru Impreza ABS Application.

(16) Data link connector

(17) ABS warning light
(18) Stop light switch
(19) Stop light
(20) G sensor
(21) Front left ABS wheel speed sensor
(22) Front right ABS wheel speed sensor
(23) Rear left ABS wheel speed sensor
(24) Rear right ABS wheel speed sensor
(25) IGN
(26) Battery
(27) Brake warning light
(28) Parking brake warning light
(29) Brake fluid level switch
(30) Lateral G sensor (STi)
(31) Driver-controllable center differential
control unit
Anti-lock Braking System How does ABS work?

Figure 3. ABS Operating Diagram

 How does ABS work? Simplicity

We will discuss how one of the simpler system works.

 Sensors at each of the four wheels  sense the rotation of the wheel.
 Too much brake application  wheel stop rotating
 Sensors  ECU  releases brake line pressure  wheel turns again.
 then ECU applies pressure again  stops the rotation of the wheel releases it
again and so on
NB:
 This releasing and re-application or pulsing of brake pressure happens
20-30 times per second or more.
 This keeps the wheel just at the limit before locking up and skidding no
matter
 ABS system can maintain extremely high static pressure and must be disabled
before attempting repairs.
How ABS Work (Video) Anti-lock Braking System
Anti-lock Braking System How does ABS work? Solenoid Valve

• Solenoid Valve Assembly:

Is a pair of valves that can:

A. Increase pressure

B. Hold pressure steady

C. Decrease pressure
 How does ABS work? Solenoid Valve

A. Increase pressure During pressure increase

mode of operation fluid is
allowed to flow through both
Solenoid 1 solenoids to the brake caliper
Pressure increase

Solenoid 2
Pressure decrease/Vent
solenoid

Brake line under pressure

Brake fluid line not under pressure

 How does ABS work? Solenoid Valve

B. Hold pressure steady During Pressure Hold mode

of operation both solenoids
are closed and no additional
Solenoid 1 fluid is allowed to flow to
Pressure increase brake calipers.

Solenoid 2
Pressure decrease/Vent
 How does ABS work? Solenoid Valve

C. Decrease pressure During Pressure Vent mode the

pressure increase solenoid is
closed. The Vent solenoid opens
Solenoid 1 allowing fluid to vent into an
Pressure increase accumulator chamber

Solenoid 2
Pressure decrease/Vent
Anti-lock Braking System System Diagram

• Figure 4. ABS Block Diagram

Anti-lock Braking System ABS Types

• ABS brakes are either

 1 Channel
 3 Channel
 4 Channel
Anti-lock Braking System ABS Types

 One-channel, one-sensor ABS

This system is commonly found on pickup

trucks with rear-wheel ABS. It has one
valve, which controls both rear wheels,
and one speed sensor, located in the rear
axle.
Anti-lock Braking System ABS Types

 Three-channel, three-sensor ABS

This scheme, commonly found on pickup

trucks with four-wheel ABS, has a speed
sensor and a valve for each of the front
wheels, with one valve and one sensor for
both rear wheels. The speed sensor for the
rear wheels is located in the rear axle.
Anti-lock Braking System ABS Types

 Four-channel, four-sensor ABS

This is the best scheme. There is a speed

sensor on all four wheels and a separate
valve for all four wheels. With this setup,
the controller monitors each wheel
individually to make sure it is achieving
maximum braking force.
Anti-lock Braking System

Configurations of ABS Types

Anti-lock Braking System ABS Configurations

Figure 5.
Depending on the ABS application, there are
several typical layouts.
Anti-lock Braking System Design Challenges

ABS control is highly nonlinear control problem due to the

complicated relationship between its components and
parameters. The research that has been carried out in ABS
control systems covers a broad range of issues and
challenges. Many different control methods for ABS have
been developed and research on improved control methods
is continuing. Most of these approaches require system
models, and some of them cannot achieve satisfactory
performance under the changes of various road conditions.
While soft computing methods like Fuzzy control doesn’t
need a precise model. A brief idea of how soft computing is
employed in ABS control is given.
Anti-lock Braking System Design Challenges

Fuzzy control :
Is Intelligent control systems can be used
in ABS control to emulate the qualitative
aspects of human knowledge with several
advantages such as robustness, universal
approximation theorem and rule-based
algorithms.
Anti-lock Braking System Advantages & Disadvantages

• Advantages:

1. It allows the driver to maintain directional stability and

control over steering during braking

2. Safe and effective

3. Automatically changes the brake fluid pressure at each

wheel to maintain optimum brake performance.

4. ABS absorbs the unwanted turbulence shock waves and

modulates the pulses thus permitting the wheel to continue
turning under maximum braking pressure
 Advantages & Disadvantages
• Disadvantages
Anti-lock Braking System

1. Stop Times - Anti-lock brakes are made to

provide for surer braking in slippery
conditions. However, some drivers report
that they find the stopping distances for
regular conditions are lengthened by their
ABS system, either because there may be
errors in the system, or because noise of the
ABS may contribute to the driver not
braking at the same rate.

2. Delicate Systems - It's easy to cause a

problem in an ABS system by messing
around with the brakes. Problems include
disorientation of the ABS system, where a
compensating brake sensor causes the
vehicle to shudder, make loud noise or
generally brake worse.
Anti-lock Braking System Advantages & Disadvantages

3. Cost - An ABS can be expensive to

maintain. Expensive sensors on each
wheel can cost hundreds of dollars to
fix if they get out of calibration or
develop other problems. For some,
this is a big reason to decline an ABS
in a vehicle.

4. System damage - A variety of factors

can cause the system to be less
effective, and can present with
everything from shuddering of the
vehicle to loud noises while trying to
stop
Anti-lock Braking System ABS Problems

Problems with ABS

The sensors on the wheels might get
contaminated by metallic dust. When this
condition occurs the sensors become less efficient
in picking up problems. In modern ABS systems,
two more sensors are added to help:
 wheel angle sensor,
 gyroscopic sensor
Anti-lock Braking System ABS Problems

The idea behind this is that when the gyroscopic

sensor detects that the car’s direction is not the
same as what the wheel sensor reports, the ABS
software will cut in to brake the necessary wheel
in order to help the car go the direction the driver
intends.
Anti-lock Braking System General information.

 Statistics show that approximately 40 % of automobile

accidents are due to skidding.
 Skidding , vehicle instability, steer inability and long
distance stopping, These problems commonly occur on
vehicle with conventional brake system which can be
avoided by adding devices called ABS.
 If there is an ABS failure, the system will revert to normal
brake operation. Normally the ABS warning light will turn
on and let the driver know there is a fault.
Anti-lock Braking System 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.
Anti-lock Braking System Common Questions
oWhat is ABS?

oWhy is that important?

oHow do I know whether my vehicle has ABS?

oWill I notice anything when the ABS is working or not?

oDoes ABS change the way I should use the brakes?

oHow does ABS work?

oDo cars with ABS stop more quickly than cars without?

oAre all antilock systems the same?

oHow can I familiarize myself with ABS?

Anti-lock Braking System

Thanks for
your attention