Integrated slip-based torque control of antilock braking system for in-wheel motor electric vehicle

Wen Po Chiang, Dejun Yin, Manabu Omae, Hiroshi Shimizu

Research output: Contribution to journalArticlepeer-review

15 Citations (Scopus)


In electric vehicles (EVs), cooperative control between a regenerative brake system (RBS) and the conventional hydraulic brake system (HBS) enhances the brake performance and energy regeneration. This paper presents an integrated antilock braking control system based on estimating the wheel slip to improve the anti-slip performance of a four wheel drive in-wheel motor EV. A novel anti-slip control method for regenerative braking was developed and integrated with a hydraulic antilock braking system (ABS) according to the logic threshold concept. When combined with the features of driving motors, the proposed method can improve the brake performance under slip conditions. Comparative simulations showed the proposed control approach provided a more effective antilock braking performance than the conventional ABS.

Original languageEnglish
Pages (from-to)318-327
Number of pages10
JournalIEEJ Journal of Industry Applications
Issue number4
Publication statusPublished - 2014


  • Anti-slip control
  • Antilock braking system
  • Brake force distribution
  • In-wheel motor electric vehicle
  • Regenerative brake system

ASJC Scopus subject areas

  • Automotive Engineering
  • Energy Engineering and Power Technology
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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