Abstract
This paper describes a model of dynamic behaviour of a vehicle equipped with ABS subjected to the conditions of straight line nonstationary motion during the braking manoeuvre and compares the influence of various ABS algorithms on vehicle behaviour. The observed model assumed nonlinear characteristics of tires, springs, shock absorbers and it concerned vehicles equipped with ABS feature, with nonlinear variation of braking pressure and braking torque, nonlin ear road-tire relation and stochastic excitation of road microprofile. During the straight line braking, the pressure in braking system shows the most important influence and through the pressure ABS controls the relation between vehicle velocity and wheels velocity. For that reason, this work utilizes the experimentally gathered data on brake system pressure.
Keywords: vehicle, braking, ABS, simulation