In order to satisfy the increasing need for security and comfort the active safety systems of the smaller\nvehicles like the motorbikes, scooters, e-bikes and bicycles have an intensively studied research topic\nover the last decade. This paper describes the development of a hydraulic type anti-lock braking\nsystem (ABS) prototype for bicycle applications. Based on vehicle dynamics of bicycles, a mechanical\nmodel has been built and a novel ABS control algorithm was designed. This algorithm is based on a\nnewly developed reference speed calculation method which uses the angular acceleration values of the\nwheels. The proper operation of the algorithm is proved through simulations and based on the results a\nprototype was built. In the prototype system the algorithm was implemented on an external controller\nmodule which involves a Continental-developed motorbike hydraulic electronic control unit. The\nfunctionality of the prototype system has been verified on a test track in several real road surface\nconditions such as dry and wet asphalt, grassy ground and dirt road.
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