Design and Simulation of Anti-lock Braking
System(ABS) For Automobile
Basavprabhu Dastikop Shashank V S
EC Industry Integrated EC Industry Integrated EC Industry Integrated
KLE Technological University KLE Technological University KLE Technological University KLE Technological University
Hubli, India Hubli, India Hubli, India
01fe20bei028@gmail.com 01fe20bei045@gmail.com 01fe20bei042@gmail.com
Abstract—In this paper, we present the design and simulation
of an anti-lock braking system (ABS) for automobile. ABS is
a safety system that prevents the wheels from locking during
hard braking, thereby allowing the rider to maintain control
of the vehicle and reduce the stopping distance. The proposed
ABS system consists of a wheel speed calculator,vehicle speed
calculator,relative slip calculator and stopping distance calcula-
tor. The desired slip is provided which further calculates the
coefficient of friction and plots the graphs of wheel speed,vehicle
speed and stopping distance. The ABS system is implemented
and tested on a Matlab simulink model, and the results show
that the system effectively prevents wheel lockup and improves
the stopping distance.
I. I NTRODUCTION
ABS is one of the most frequently used automobile safety
system.
A. Background
ABS was initially developed for use in aircraft to prevent
skidding during landings. The first automotive ABS system
was introduced in 1966 by the American automotive company,
Chrysler. Since then, ABS has become a standard safety
feature in many passenger cars.
ABS for motorcycles was first introduced in the 1980s by
the German company, BMW. It quickly became apparent that
ABS was a valuable safety feature for motorcycles, as it can
help prevent skidding and loss of control during hard braking.
As a result, many other motorcycle manufacturers began to
incorporate ABS into their models.
In the United States, the National Highway Traffic Safety
Administration (NHTSA) mandated that all new motorcycles
with an engine displacement of over 500cc must have ABS as
a standard feature starting in 2016. The European Union has
had similar regulations in place since 2016, requiring all new
motorcycles over 125cc to have ABS as standard.
ABS has been shown to significantly reduce the number of
accidents and fatalities involving motorcycles. According to a
study conducted by the Insurance Institute for Highway Safety
(IIHS), motorcycles with ABS are 37
Despite the proven safety benefits of ABS, there are still
some limitations to the technology. For example, ABS may
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EC Industry Integrated
Hubli, India
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not prevent all types of accidents, such as those involving a
collision with a fixed object. Additionally, ABS may not be
as effective on slippery surfaces or when braking on uneven
terrain.
Overall, ABS is a critical safety feature for motorcycles
that has significantly improved motorcycle safety. Continued
research into ABS and other safety features can help further
improve motorcycle safety and reduce the number of accidents
and fatalities on the road.
B. Motivation
The motivation for a research paper on ABS is to explore the
various aspects of this critical safety feature. There are several
areas of interest that can be explored in a research paper
on ABS, including the history and development of ABS, the
technical workings of the system, the benefits and limitations
of ABS, and the future of ABS technology.
One of the primary motivations for studying ABS is to un-
derstand how this technology can improve motorcycle safety.
In recent years, there has been a growing concern over
the number of accidents and fatalities involving motorcycles,
particularly in developing countries. ABS has been shown to
reduce the risk of accidents and improve the overall safety
of motorcycles, making it an important area of research for
anyone interested in motorcycle safety.
Another motivation for studying ABS is to explore the
technical aspects of the system. ABS is a complex technology
that involves multiple components and sensors. Understanding
how these components work together to prevent wheel lock-
up can provide valuable insights into the overall design and
function of motorcycle braking systems.
Finally, studying ABS can provide insights into the future
of motorcycle safety. As technology continues to advance, new
safety features are being developed that can further improve
motorcycle safety. By studying ABS, researchers can gain
insights into the potential for new safety features and how they
can be integrated into existing motorcycle braking systems.
II. PROBLEM DEFINITION
The problem that ABS seeks to address is the loss of control
of a vehicle during hard braking, which can result in skidding
and loss of traction. Skidding occurs when the wheels of a
vehicle lock up due to excessive braking force, causing the
tires to lose grip on the road surface. This can result in the
vehicle sliding or skidding out of control, which can lead to
accidents and injuries.
The primary objective of ABS is to prevent wheel lock-
up during hard braking and improve the overall safety of a
vehicle, especially in emergency situations. Specifically, the
objectives of ABS are:
• To prevent skidding and loss of control: ABS seeks to
prevent the wheels from locking up during hard braking,
which can cause the vehicle to skid and lose traction. By
preventing skidding, ABS allows the driver or rider to
maintain steering control and stop the vehicle safely.
• To shorten stopping distance: ABS can reduce the stop-
ping distance of a vehicle by preventing wheel lock-up
and allowing the wheels to maintain traction on the road
surface. This can be particularly beneficial in emergency
situations, where a shorter stopping distance can help
prevent accidents and injuries.
• To improve stability and maneuverability: By prevent-
ing skidding and maintaining steering control, ABS can
improve the stability and maneuverability of a vehicle
during hard braking. This can help prevent accidents and
improve overall handling and control of the vehicle.
• To reduce the risk of accidents and fatalities: The primary
objective of ABS is to improve the safety of a vehicle and
reduce the risk of accidents and fatalities. ABS has been
shown to significantly reduce the number of accidents and
fatalities involving motorcycles, making it an important
safety feature for all vehicles.
• To increase driver or rider confidence: By improving the
stability and control of a vehicle during hard braking,
ABS can increase the confidence of the driver or rider
and improve overall driving or riding experience. This
can also help reduce stress and fatigue while driving or
riding.
III. LITERATURE SURVEY
There has been a significant amount of research and devel-
opment in the field of ABS since its introduction in the 1960s.
Researchers have explored various aspects of ABS technology,
including its design, performance, and effectiveness.
One important area of research has been the development
of ABS algorithms. Researchers have developed a range of
algorithms for ABS that are optimized for different vehicle
types and operating conditions. For example, some algorithms
are designed for use on slippery surfaces, while others are
optimized for use on dry pavement. Researchers have also
explored the use of advanced control strategies, such as neural
networks and fuzzy logic, to improve the performance of ABS
systems.
A. Components of ABS
The components of an ABS system typically include the
following:
1)Speed sensors: ABS systems use wheel speed sensors to
detect the speed of each wheel. These sensors are typically
mounted on the wheel hub or axle and generate a signal that
is sent to the ABS control module.
2)Control module: The ABS control module is the brain
of the ABS system. It receives signals from the wheel speed
sensors and uses this information to determine if a wheel is
about to lock up. The control module also sends signals to the
ABS actuator to modulate the brake pressure as needed.
3)Hydraulic modulator: The hydraulic modulator is respon-
sible for modulating the brake pressure applied to the wheels.
It is typically located near the brake master cylinder and
contains a series of solenoid valves that control the flow of
brake fluid to each wheel.
4)Pump motor: The pump motor is responsible for pressur-
izing the brake fluid in the hydraulic modulator. It is typically
an electric motor that is activated by the ABS control module.
5)Brake calipers or wheel cylinders: The brake calipers or
wheel cylinders are the components that apply the brake pads
or shoes to the brake rotor or drum to slow the vehicle. In an
ABS system, these components may be equipped with special
valves or sensors that allow the ABS system to modulate the
brake pressure.
6)Warning light: Most ABS systems are equipped with a
warning light that illuminates if there is a problem with the
system. The warning light is typically located on the dashboard
and is controlled by the ABS control module.
B. Existing ABS Technology
There are several existing ABS technologies in the market
that have been developed and refined over the years. Here are
some of the most common ones:
• Four-channel, four-sensor ABS: This is the most common
type of ABS found in modern vehicles. It uses four speed
sensors, one at each wheel, and four channels to control
brake pressure independently at each wheel. This type of
ABS provides the most precise control over each wheel,
allowing for maximum stability and stopping power.
• Three-channel, four-sensor ABS: This type of ABS is
commonly found in trucks and SUVs. It uses three
channels to control brake pressure - two for the front
wheels and one for the rear - and four speed sensors, one
at each wheel. This type of ABS provides good stability
and stopping power, but not as much as the four-channel
system.
• One-channel, one-sensor ABS: This is the simplest and
least expensive type of ABS. It uses a single sensor to
monitor the speed of one wheel and a single valve to
control the brake pressure for all wheels. This type of
ABS is typically found in older vehicles and does not
 provide the same level of control as the more advanced
systems.
• Electronic stability control (ESC): ESC is a more ad-
vanced form of ABS that uses additional sensors to
detect the vehicle’s yaw rate and lateral acceleration.
This information is used to determine if the vehicle is
skidding or losing control, and the ABS system is used
to apply brake pressure to specific wheels to help correct
the situation. ESC is now a standard feature on most new
vehicles.
• Integrated ABS: This is a newer type of ABS that
combines the brake system with other vehicle systems,
such as traction control and electronic stability control.
By integrating these systems, the vehicle can provide
more precise control over the vehicle’s handling and
stability, improving safety and performance.
IV. DEMONSTRATION OF ABS ON SIMULINK
A. Description
This experiment demonstrates the working of ABS in
matlab simulink.By giving the Desired slip as the Input we
first calculate the wheel speed and vehicle horizontal and
angular speed.later this is driven as a relative slip acting as
a limiting factor to the vehicle and outputs the braking torque
which later is used to calculate the stopping distnace of the
vehicle.Multiple instances of slip are simulated and desired
Outputs are shown.
B. Components and Equations of Experiment
• Co-efficient of friction:

C. Existing ABS Solution

Existing ABS solutions have evolved significantly over the

years to provide more precise and effective control over a
vehicle’s braking system. Some of the most common ABS
solutions available in the market today include:
1)Bosch ABS: Bosch is a leading manufacturer of ABS
systems and has developed several advanced solutions over
the years. Their ABS solutions are known for their precise
control and high performance, and they are commonly used
in a wide range of vehicles.

2)Continental ABS: Continental is another major player

in the ABS market, and their solutions are known for their
reliability and effectiveness. Their systems are designed to
be highly adaptable and can be integrated with other vehicle
systems to provide even better control over the vehicle’s figure 1: Co-efficent of Friction Vs Slip
handling and stability.
• Normal Force: m*g/4 -where m=mass of
3)TRW ABS: TRW is a well-known manufacturer of auto- vehicle,g=acceleration due to gravity
motive safety systems, including ABS. Their ABS solutions
are designed to provide optimal control over the vehicle’s • Tire Torque:T=F*R -where F is force applied and R is
braking system, even in challenging road conditions. Their radius of wheel.
systems are also designed to be highly responsive and provide
instant feedback to the driver. • Deceleration of Vehicle:D=T/(m*R) -where T is tire
torque,m is mass of vehicle and R is radius of wheel.
4)Denso ABS: Denso is a leading supplier of automotive
electronics, and their ABS solutions are known for their
advanced technology and high performance. Their systems are • Bang Bang Controller:It outputs 0 for input less than 0
designed to be highly adaptable and can be customized to meet and outputs 1 for input greater than 0.
the specific needs of different vehicles and driving conditions.
• Relative Slip:It is a ratio of Vehicle speed to wheel
5)ATE ABS: ATE is a popular manufacturer of automotive angular speed.
braking systems, and their ABS solutions are widely used in a
range of vehicles. Their systems are known for their durability
and reliability, and they are designed to provide precise control
C. Block Diagram of SubSystems
over the vehicle’s braking system, even in challenging road
conditions. • Main Block:
 figure 2: Main Block
• Wheel Speed:

figure 6: Slip

figure 3: Wheel Speed • Vehicle Speed:

• Bang Bang Controller:

figure 4: Bang Bang Controller

• Relative Slip:

figure 7: Vehicle Speed

• Wheel Speed:

figure 5: Relative Slip

V. RESULTS
figure 8: Wheel Speed
A. For Desired Slip=0.2(ABS is Triggered)
• Slip: • Stopping Distance:
 figure 8: Wheel Speed
• Stopping Distance:

figure 9: Stopping Distance

B. For Desired Slip=1(ABS is not Triggered)
• Slip: figure 9: Stopping Distance
C. For Desired Slip=0.5
• Slip:

figure 6: Slip
• Vehicle Speed:
figure 6: Slip
• Vehicle Speed:

figure 7: Vehicle Speed

• Wheel Speed:

figure 7: Vehicle Speed

 • Wheel Speed: https://www.brakeandfrontend.com/category/tech-tip/antilock-
brakes/ 3)The Drive: https://www.thedrive.com/maintenance-
repair/29257/anti-lock-brakes-how-they-work-
and-why-theyre-important 4)Car and Driver:
https://www.caranddriver.com/features/a15126404/how-
anti-lock-brakes-work-tech-dept/ 5)Popular Mechanics:
https://www.popularmechanics.com/cars/how-to/a28431/how-
anti-lock-brakes-work/ 6)Engineering Explained:
https://www.engineeringexplained.com/2014/11/how-
anti-lock-brakes-abs-work.html 7)Edmunds:
https://www.edmunds.com/car-safety/how-
anti-lock-brakes-work.html 8)AutoZone:
https://www.autozone.com/diy/brakes/anti-lock-brake-
figure 8: Wheel Speed system 9)Cars.com: https://www.cars.com/articles/what-
is-abs-1420680587279/ 10)Brake System Guide:
• Stopping Distance:
https://www.brakesystemguide.com/anti-lock-braking-
system-abs/ 11)Bosch Automotive Technology:
https://www.boschaftermarket.com/us/en/brands/automotive-
components/abs/index.jsp

figure 9: Stopping Distance

VI. CONCLUSION

In conclusion, the ABS system demonstration using

Simulink has provided valuable insights into the functioning
and importance of this safety feature. Simulink’s simulation
capabilities have allowed us to visualize and analyze the ABS
system’s response in various scenarios, emphasizing its role
in preventing wheel lock-up and enhancing vehicle control.
This demonstration has furthered our understanding of ABS
systems and their crucial role in improving road safety.
The widespread adoption of ABS as a standard safety
feature in modern vehicles has significantly contributed to
reducing the severity and frequency of accidents. Its effec-
tiveness in preventing wheel lock-up and maintaining stability
underscores its importance in safeguarding lives on the road.
As automotive technology continues to advance, ABS re-
mains a fundamental component in ensuring safe braking
performance. The continuous refinement of ABS algorithms
and integration with other safety systems further enhances its
effectiveness, underscoring its importance as a cornerstone of
vehicle safety.
VII. REFERENCES

1)HowStuffWorks - Auto:
https://auto.howstuffworks.com/antilock-
brake.htm 2)Brake Front End: