The new paradigm of an anti-lock braking system for a full electric vehicle: experimental investigation and benchmarking

Dzmitry Savitski, Valentin Ivanov, Klaus Augsburg, Barys Shyrokau, Robert Wragge-Morley, Thomas Pütz, Phil Barber

    Research output: Contribution to journalArticleScientificpeer-review

    38 Citations (Scopus)


    The study presented in this paper discusses developments in the area of anti-lock braking control for full electric vehicles. The main contributions of the paper are the development and experimental validation of the combined electric and hydraulic brake system with application of a continuous anti-lock braking system, which is expected to be more effective than the existing industrial solutions. It covers the topic of high-performance braking and driving comfort under a direct slip control function. The research is related to the full electric sport utility vehicle equipped with four individual on-board motors and a decoupled electrohydraulic brake system. The brake controller architecture includes functions of the continuous anti-lock braking system strategy, a brake blending algorithm aimed at minimization of the friction brake torque and operational limitations of the electric brakes. The developed brake controller was subjected to different validation procedures but, within the framework of this paper, emergency braking tests on a wet surface with a low coefficient of friction are considered. The results obtained demonstrate significant improvements in the braking performance, the driving comfort and the control performance for continuous anti-lock braking control of the electric vehicle compared with those of diverse vehicle configurations and, in particular, with those of a sport utility vehicle of the same type equipped with an internal-combustion engine and a conventional hydraulic brake system.
    Original languageEnglish
    Article number1364-1377
    JournalProceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering
    Issue number10
    Publication statusPublished - 2016


    • Anti-lock braking system
    • direct wheel slip control
    • full electric vehicle
    • on-board motors
    • regenerative braking


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