Integration of torque blending and slip control using nonlinear model predictive control

Antilock Braking System (ABS) is an important active safety feature in preventing accidents during emergency braking. Electrified vehicles which include both hydraulic and regenerative braking systems provide the opportunity to implement brake torque blending during slip control operation. This study evaluates the design and implementation of a new torque allocation algorithm using a Nonlinear Model Predictive Control (NMPC) strategy that can run in real-time, with results showing that wheel-locking can be prevented while also permitting for energy recuperation.