Antilock braking systems (ABS) are usually designed based on controlling the wheel slip ratio so as to maintain each wheel in a presumed stable region. Since the optimal slip ratio (which results in maximum tire-road friction) varies with the type of the road, current methods are not efficient in the sense of achieving the shortest possible stopping distance. This paper introduces an efficient antilock braking system, in which the brake commands directly maximize the longitudinal component of

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... re-road friction at each wheel of the vehicle independently. The tire-road friction is estimated using a torque balance equation at each wheel and within those equations, realtime estimates of the effective radius of tire are used. A step-bystep algorithm for computing the brake commands that maximize the tire-road friction is also presented. Three challenging braking scenarios were tested using the comprehensive CarSim simulation environment. The results show that in comparison to conventional ABS, our method significantly reduces the stopping distance and improves the vehicle stability.