Brake Control Component
Individual wheel brake control component for driving dynamics interventions. Applies targeted brake pressure to specific wheels as commanded by traction or yaw control supervisors to correct slip or yaw errors.
Individual wheel brake control component for driving dynamics interventions. Applies targeted brake pressure to specific wheels as commanded by traction or yaw control supervisors to correct slip or yaw errors.
State Fields
| Field | Type | Description |
|---|---|---|
isActive, isActingAsTC, isActingAsYC, isActingAsABS | boolean | Detailed status flags for the various braking interventions. |
Public API
| Function | Description |
|---|---|
actAsABSControl(wheelData, brake, vehicleVelocity, dt) | Calculates ABS intervention intensity to prevent wheel lockup while maximizing braking force. |
actAsTractionControl(wheelGroup, dt) | Mitigates wheel spin by applying brake torque to individual wheels in a powered group. |
actAsYawControl(measuredYaw, expectedYaw, yawDifference, bodySlipAngle, dt) | Selects the optimal wheel to brake (inner or outer) to generate a corrective yaw moment. |
registerCMU(cmu) | Links to the CMU. |
module.setDebugMode(debugEnabled) | Sets the debug mode. |
module.shutdown() | Shuts down the module and cleans up resources. |
module.setParameters(parameters) | Traction Control |
module.setConfig(configTable) | Sets the config. |
module.getConfig() | Returns the config. |
Hooks
| Hook | Description |
|---|---|
initSecondStage(jbeamData) | Registers with all relevant supervisors and initializes individual PID controllers for every wheel's ABS and TCS logic. |
updateWheelsIntermediate(dt) | High-frequency loop that applies the final calculated braking torques to the wheel devices. |
module.initLastStage(jbeamData) | Final-stage initialization after all controllers and powertrains are ready. |
module.reset() | Resets the controller to its initial state. |
module.updateGFX(dt) | Per-frame update for visual state and UI synchronization. |
See Also
- Traction Control — Traction supervisor
- Yaw Control — Yaw stability supervisor
AWD Control Component
All-wheel-drive torque distribution control component. Adjusts front/rear torque split based on supervisor commands to optimize traction and stability. Works with active center differentials and transfer cases.
Differential Control Component
Differential locking/bias control component for driving dynamics. Adjusts differential lock percentage or bias ratio based on supervisor commands to control torque distribution across an axle.