Abstract
In this study, a slip control algorithm using motor torque control during the braking of the in-wheel electric vehicle was proposed and an anti-lock brake system (ABS) simulator was developed on the basis of the test results for electro-hydraulic ABS. The slip control algorithm using motor torque control limits the in-wheel motor torque according to road friction coefficient and slip ratio while the ABS prevents locking of the wheel by lowering or raising the brake pressure through solenoid valve control. A MATLAB/Simulink model and a CarSim vehicle model were developed, and the motor torque control and ABS simulator were applied to the MATLAB/Simulink-CarSim co-simulator and compared braking performance.