Skid control of a small electric vehicle with two in-wheel motors: simulation model of ABS and regenerative brake control

Peeie, Mohamad Heerwan Bin; Ogino, Hirohiko; Oshinoya, Yasuo · 2016 · OpenAlex-citations

DOI: 10.1080/13588265.2016.1147731

archive: archived pipeline: cataloged verified

Get this paper ↗ (DOI — opens at the source; we link to it, we don't host it)

Summary

This paper addresses the braking performance limitations inherent in small electric vehicles (EVs) equipped with two in-wheel motors. Due to spatial constraints at the driving tires, these vehicles often utilize compact mechanical braking systems instead of hydraulic ones. However, mechanical systems suffer from rigidity and inferior response performance compared to hydraulic alternatives, which can compromise vehicle safety. To mitigate these issues, the authors propose a hybrid skid control strategy that combines an anti-lock braking system (ABS) with regenerative brake control. The primary objective is to enhance braking stability and prevent tire lockup, particularly under low-traction conditions such as icy roads. The proposed method employs a specific configuration for the braking actuators. The hydraulic unit of the ABS is installed at the front tire to manage mechanical braking forces. Simultaneously, the in-wheel motor located at the rear tire serves as the actuator for the ABS, controlling the regenerative braking torque. This dual-approach allows for precise modulation of braking forces at both the front and rear wheels. The study utilizes a simulation model to evaluate the effectiveness of this combined control strategy. The experimental design focuses on simulating braking scenarios on icy roads, a condition where tire lockup and vehicle skidding are most likely to occur due to reduced friction. The simulation results demonstrate that the proposed model effectively prevents tire lockup and vehicle skidding during braking on icy surfaces. By integrating the hydraulic ABS at the front with regenerative torque control at the rear, the system maintains better traction and stability compared to relying solely on mechanical braking. The findings indicate that this combination improves the overall safety and stability of the small EV. The successful prevention of skidding in the simulation validates the efficacy of using in-wheel motors as active actuators for skid control, compensating for the limitations of the mechanical braking system. The significance of this research lies in its contribution to the safety engineering of compact electric vehicles. By leveraging existing in-wheel motors for regenerative braking control, the study offers a solution that does not require extensive modifications to the vehicle’s physical structure, such as installing full hydraulic systems at all wheels. This approach provides a cost-effective and space-efficient method to achieve braking performance comparable to more complex hydraulic systems. The work highlights the potential of integrating electric motor control with traditional ABS technologies to enhance vehicle dynamics, offering a viable pathway for improving the safety standards of small EVs in challenging driving conditions.

Provenance

The full processing record for this entry. Every stage of this paper's journey through the pipeline is logged — what ran, with which tool and model, how many attempts it took, and when it last completed.

Summary generated by qwen3.6-27b-prismaquant on 2026-06-26; verification: verified.

Topics

Ranked by relevance to this paper. Hover a topic for its definition.

• road surface friction