Development of a bicycle anti - lock braking system prototype

Abstract

In order to satisfy the increasing need for security and comfort the active safety systems of the smallervehicles like the motorbikes, scooters, e-bikes and bicycles have an intensively studied research topicover the last decade. This paper describes the development of a hydraulic type anti - lock brakingsystem (ABS) prototype for bicycle applications. Based on vehicle dynamics of bicycles, a mechanicalmodel has been built and a novel ABS control algorithm was designed. This algorithm is based on anewly developed reference speed calculation method which uses the angular acceleration values of thewheels. The proper operation of the algorithm is proved through simulations and based on the results aprototype was built. In the prototype system the algorithm was implemented on an external controllermodule which involves a Continental- developed motorbike hydraulic electronic control unit. Thefunctionality of the prototype system has been verified on a test track in several real road surfaceconditions such as dry and wet asphalt, grassy ground and dirt road.