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NTMIM-2023 IOP Publishing
Journal of Physics: Conference Series 2501 (2023) 012006 doi:10.1088/1742-6596/2501/1/012006

Vehicle Braking Stability Analysis Considering Vehicle

Structure Parameters Based on CarSim

Enguo Dong1*, Yajuan Li1, Boli Sun2and Xiaojun Zhang3

1
Automotive and Transportation School, Tianjin University of Technology and
Education, Dagunanlu Road 1310, Hexi District, Tianjin, China
2
Software Development Department, Tianjin Kaifa Electric Co., Ltd, Wuhua Road 8,
Binhai High-tech Industrial Development Zone, Tianjin, China
3
Automobile Inspection and Maintenance Dept, ORDOS Polytechnic School,
Hangjinnanlu Road 9, Dongsheng District, Ordos, China

*Corresponding author’s e-mail: [email protected]

Abstract. Vehicle braking stability performance can improve the safety of vehicle driving
during a braking. However, some parameters of vehicle structure impact on the vehicle braking
stability, the characteristic law of the relevant parameters on vehicle braking stability is ignored.
A simulation model of vehicle is established using the software of CarSim. The vehicle model
is included in the driving system, suspension, steering mechanism, braking system. The impact
of wheelbase, and the height of centre of vehicle mass on braking stability performance is
analysed. The characteristic law of the relevant parameters on vehicle braking stability is
concluded. Based on the characteristic law, the ideal vehicle braking stability is obtained by
controlling the vehicle braking force of wheel and the steering angle during a braking.

1. Introduction
Good vehicle braking performance can improve the safety of vehicle driving. The braking system is
able to make vehicle decelerate, stop safely and effectively, and ensure the vehicle braking stability
during a vehicle braking process. The vehicle braking stability is no mistracking, no side slip and no
loss of steering ability during a braking. Mokhiamar O used a sliding model theory to decrease the slip
angle of vehicle's mass centre and shorten the braking distance on the braking condition [1]. Jin
Xiaoling designed a logic threshold PID and Fuzzy PID controller to improve the braking stability at
low-speed and low-adhesion road [2]. Based on the software of Prescan, the emergency braking
system was proposed to improve the vehicle braking performance [3]. Hu Yuanzhi et al. compared the
safety distance models of five AEB algorithms to obtain the AEB algorithm with the best braking
performance, which greatly improved the safety of the vehicle under emergency braking conditions [4].
Taking a vehicle as an example, the software of CarSim is used to establish a simulation model of
vehicle with the braking system, driving system, suspension system, steering mechanism and other
subsystems, and the vehicle braking stability is studied.

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NTMIM-2023 IOP Publishing
Journal of Physics: Conference Series 2501 (2023) 012006 doi:10.1088/1742-6596/2501/1/012006

2. Vehicle braking system analysis

2.1. Simulation model of vehicle

A vehicle model built using CarSim is shown in Fig.1. The vehicle is a C-class sedan, and the vehicle
structure parameter value including vehicle length, vehicle width, vehicle height, wheelbase, tire
radius, centre of mass height, front and rear wheel track are shown in table 1. For the vehicle model,
the front suspension is MacPherson suspension, and the rear suspension is multi-link suspension.

Figure 1. Simulation model of vehicle

Table 1. Vehicle Parameter value
Name Value Name Value
Vehicle length (mm) 4545 Vehicle width (mm) 1739
Vehicle height (mm) 1478 Wheelbase (mm) 2400
Front tire stiffness (kN/rad) 200 Minimum clearance from road (mm) 190
Rear tire stiffness (kN/rad) 200 Front suspension spring (N/mm) 13
Tire radius (mm) 310 Rear suspension spring (N/mm) 14.2
Vehicle mass (kg) 1274 Front track (mm) 1500
Center of mass height (mm) 540 Rear track (mm) 1500
Vehicle speed (km/h) 80 Friction factor 0.5

2.2. Braking system performance analysis

2.2.1. Vehicle braking theory. The vehicle braking efficiency, the stability of braking efficiency and
the directional stability during a braking are the three main indicators to evaluate vehicle braking
performance.
For the braking efficiency, two indicators are generally used to evaluate: braking deceleration at an
initial braking velocity and the maximum pedal force; braking distance under an initial braking
velocity and maximum pedal force.
At a certain velocity, the distance between the time the driver stepped on the brake pedal and the
time the vehicle stopped completely becomes the braking distance. Brake pedal force and road
adhesion conditions are two factors that affect braking distance [5]. The longer brake is applied, the
greater maximum braking deceleration, the smaller starting velocity of braking, and the shorter
braking distance are gotten. The braking deceleration reflects the braking force from ground, which is
related to the braking force of the brake and the adhesion of the ground when the wheels are rolling.
The directional stability of the vehicle during a braking includes two aspects: the vehicle keeps its
steering ability, and the driver can maintain the vehicle to move forward according to the established
route by a small correction of the steering wheel angle; the driver fixes the steering wheel angle to
give a forward direction of the vehicle, the vehicle can resist the external forces and maintain its own
driving direction [6].
2.2.2. Vehicle braking force. For the analysis of vehicle braking stability, the forces exerted on the
vehicle model mainly include the driving force and the braking force.
For the vehicle driving force, it is necessary to meet the basic requirements for the vehicle driving,
as shown in (1).

2
NTMIM-2023 IOP Publishing
Journal of Physics: Conference Series 2501 (2023) 012006 doi:10.1088/1742-6596/2501/1/012006

Fr  F = mx   p mg (1)
Where, Fr - the sum of the vehicle driving resistance, F - the vehicle driving force, m -the vehicle
mass, x - the vehicle acceleration, g - the acceleration of gravity, and φp - the peak adhesion
coefficient.
The requirements for vehicle braking force are described in table 2.
When the wheels are locked, the braking force from ground is shown in (2).
F = mx = m(b g ) (2)

Where, xmax =  s g ,  s - the sliding adhesion coefficient, and  b - the coefficient of vehicle braking
force. x -the braking deceleration, xmax -the maximum braking deceleration.

Table 2. Vehicle braking force requirements

Type Proportion of total braking force to Proportion of axle braking force to
vehicle mass（%） axle load（%）
No load Full load Front axle Rear axle
Total mass <3500kg ≥60 ≥50 ≥60 ≥20
Other vehicles, trains ≥60 ≥50 ≥60 --

2.2.3. Brake system model. In the vehicle model, the braking system is co-simulated with the controller
in Simulink by setting the brake pressure adjustment value. The input variables in CarSim are: left-
front brake braking pressure, right-front brake braking force, left-rear brake braking pressure, right-
rear brake braking pressure. Front braking torque is 300Nm，and rear braking torque is 200Nm.
In the brake system, the tire parameters are shown in Table 3.
Table 3. Main parameters of tire
Name Value Name Value
Rolling radius /mm 310 Max. load /N 10000
No-load radius /mm 316 Tire rolling resistance coefficient 0.004
Tire width /mm 205 Tire rolling resistance speed coefficient /(h/km） 0.000025
Elastic stiffness /(N/mm) 228

2.3. Vehicle handling stability

According to the Hurwitz stability theory, the vehicle handling stability is shown as (3),
C f Cr l 2 + mv 2 (Cr lr − C f l f )  0 (3)
2
Where, 1 + v  0, v 2 = C f Cr l 2 . It is determined by the magnitude of Cr lr and Cf lf, namely:
m(Cr lr − C f l f )
2 ch
vch

vch2  0, Cr lr  C f l f
 2
vch → , Cr lr = C f l f (4)
vch2  0, Cr lr  C f l f

Where, vch2 -the characteristic velocity of vehicle, lf and lr -the distance from the centre of vehicle
mass to the front axle and rear axle, respectively; Cf and Cr - the sideslip stiffness of the front and rear
axle, respectively. m- the total vehicle mass.

3
NTMIM-2023 IOP Publishing
Journal of Physics: Conference Series 2501 (2023) 012006 doi:10.1088/1742-6596/2501/1/012006

The vehicle stability depends on the ratio of v2 to vch2 and the value of vch2 is constant. However, the
sideslip stiffness value of the front and rear wheels will change because of the complicated driving
situation, the vehicle speed vch2 will also change.

3. Impaction of vehicle parameters on braking stability

Based on the vehicle simulation model, the vehicle brake stability is analysed and vehicle brake
stability characteristic law by changing some parameter values such as wheelbase, and centre of mass
height. The simulation condition is that the vehicle accelerates from a stationary state by the driving
force. When it accelerates to 30km/h, the vehicle starts to brake until the vehicle velocity is 0 km/h,
and the simulation ends. The measured vehicle brake stability is including in vehicle roll angle and
vehicle yaw velocity.

3.1. Impact of wheelbase on vehicle braking stability

The impact of the wheelbase on the vehicle roll angle during a braking is shown in Fig.2. When the
wheelbase is increased from 2400mm to 2600mm, the difference of the maximum vehicle roll angle is
about 0.13°. When the wheelbase is reduced from 2400mm to 2200mm, the difference of the
maximum vehicle roll angle is about 0.2°. It can be seen that when the wheelbase is reduced, the
vehicle roll angle increases during a braking and the braking stability becomes worse, while the
wheelbase is extended, the braking stability becomes better.

Figure 2. Impact of wheelbase on vehicle roll angle Figure 3. Impact of wheelbase on yaw rate

The impact of the wheelbase on the vehicle yaw rate during a braking is shown in Fig.3. When the
wheelbase is increased from 2400mm to 2600mm, the maximum vehicle yaw rate is 0.8°, and when
the wheelbase is reduced from 2400mm to 2200mm, the maximum difference of the vehicle yaw
velocity is 0.42°. It can be seen that when the wheelbase is decreased, the vehicle yaw rate increases,
and the vehicle braking stability becomes worse; while the wheelbase is extended, the braking stability
becomes better.

3.2. The impact of the height of the center of mass on vehicle braking stability
The impact of the height of the centre of mass on the vehicle roll angle during a braking is shown in
Fig.4. When the height is increased from 540mm to 640mm, the vehicle roll angle increases by 0.04,
and when the height is reduced from 540mm to 440mm, the vehicle roll angle decreases by 0.035°. It
can be seen that when the height increases, the vehicle roll angle is the greater during a braking; When
the height is lower, the vehicle roll angle is lower.
The impact of the height of the centre of mass on the vehicle yaw rate during a braking is shown in
Fig.5. When the height is increased from 540mm to 640mm, the vehicle yaw rate increases by 0.7°,
and when the height of the centre of mass of the vehicle is reduced from 540mm to 440mm, the
vehicle yaw rate decreases by 0.2°. It can be seen that during a braking, when the height of the centre
of mass of the vehicle increases, the vehicle yaw rate is increased; When the height of the centre of
mass becomes lower, the vehicle yaw rate is deceased.

4
NTMIM-2023 IOP Publishing
Journal of Physics: Conference Series 2501 (2023) 012006 doi:10.1088/1742-6596/2501/1/012006

Figure 4. Impact of wheelbase on vehicle roll angle Figure 5. Impact of wheelbase on yaw rate

4. Vehicle brake stability control

The vehicle braking stability is controlled. The simulation condition is to brake on a low friction road
at a high velocity. The input variables are included in left-front brake braking pressure, right-front
brake braking force, left-rear brake braking pressure, right-rear brake braking pressure. The output
parameters are composed of vehicle roll angle and vehicle yaw velocity.
The simulation condition is the vehicle starts at a velocity of 100km/h with the step angle 200°of
front wheel, and then the vehicle is braked urgently at the 2s. The vehicle roll angle and vehicle yaw
velocity are shown in Fig.6 and Fig.7.

Figure 6. Vehicle roll angle Figure 7. Vehicle yaw velocity

As shown in Fig.6, the vehicle has a slight roll with the step input of the steering wheel angle, and
the vehicle is stable in a certain range after 2s. As shown in Fig.7, the vehicle has a slight yaw, and the
vehicle is stable after 2s.
In conclusion, the vehicle is driving at a higher velocity on the low road adhesion coefficient, the
vehicle roll angle and vehicle yaw velocity is controlled in a relatively small range by the
corresponding wheels to apply the brake. The vehicle brake stability is good with the vehicle roll angle
of 0.73°and the vehicle yaw velocity of 2.7°.

5. Conclusion
A simulation vehicle model is built based on the software of CarSim. The simulation model is
included in the driving system, suspension, steering mechanism, braking system and other subsystems.
The impact of wheelbase, vehicle mass and the height of centre of vehicle mass on braking stability
performance is analyzed. The characteristic law of relevant parameters on vehicle braking stability is
concluded. At the same time, by controlling the vehicle braking force, the ideal vehicle braking
stability performance is obtained in the simulation. All the results provide a reference for vehicle
braking system performance.

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NTMIM-2023 IOP Publishing
Journal of Physics: Conference Series 2501 (2023) 012006 doi:10.1088/1742-6596/2501/1/012006

Acknowledgment
The work was funded by Tianjin Science and Technology Planning Project (21YDTPJC00400).

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