emergency braking of a vehicle. Therefore it improves directional stability of the vehicle,
shortens stopping distance, and enhances maneuvering during braking, regardless of road
conditions. Hardware In-the-Loop Simulation (HILS) is an effective tool for design
Performance evaluation and test of vehicle subsystems such as ABS, active suspension,
and steering systems. This paper describes a HILS model for ABS/ASR (Acceleration Slip …