A wheel nith the same penpheral speed as the vehcle
speed will have no bralang or acceleration effect. wth a
wheelslip value of 0 A wheel wth no speed, dunng
bralang, wl1 be locked and therefore has a wheelslip value
of 1 Loclang of a wheel must be prevented since lateral
fnchon, needed in order to steer a vehicle nil1 be lost
dunng wheel lock Locked wheels also cause longer
stopping &stances as well as reduced tyre llfe During the
bralang and acceleration processes an optimal wheelslip
value is usually between 0 I and 0 3 for most road
surfaces The relationshp between wheelslip, the brdung
coefficient of fnction and dfferent rodd surfaces is shown
in fig 1 The optimum wheelslip value for most
roadsurfaces is between U 1 and 0 3 [l,j] As the optimal
wheelslip value for lateral fnction is 0, the lowcr the
wheelslip value the better the steerability of the belucle
Most ABS and ASR [5] control strateges i m at
maintaining the rrheelslip value at 0 2 Ths value is a
compromise between acluevlng a mammum coefficient of
fnction dunng bralung, accelerauon and vehcle steenng