Slip suppression control of compact electric vehicle based on brake assist using haptic pedal

Traffic accidents are big problems in our lives. Most causes of traffic accidents are because of human mistakes. The process of driving consists of three parts: recognition, judgment, and operation. Especially, 70% of the traffic accidents caused by human are recognition mistakes. Therefore, this paper proposes the haptic pedal system to transmit the road condition to the driver. This system assists the driver's braking operation to suppress the wheel slip. In order to convert the brake pedal into haptic pedal, sliding mode controller is applied. Simulation and experiment were conducted to show the validity of the proposed system.