This work presents the development of a Hardware-in-the-Loop (HIL) test bench that can be used to validate an electric bicycle (e-bike) anti-lock braking system (ABS) for different test scenarios. The approach involves interfacing a virtual bicycle simulation model running on a real-time target machine with the physical ABS hardware under test. This setup allows to test and evaluate ABS behavior in a safe and reproducible way, before starting testing on the track. This article describes the derivation of an equation-based model considering six degree-of-freedom (dof) representing the in-plane longitudinal dynamics of an e-bike. The simulation model is experimentally validated against measurements made on an instrumented test bike. The test apparatus used and the comparison of simulation results with measurements are presented. The characteristics of the HIL test bench developed are presented, and its applicability to an ABS validation process is illustrated by evaluating the braking performance of an ABS tested on a crossover bike.

The availability of electric energy on-board e-bikes allows the emergence of active safety systems like antilock braking systems (ABS). This paper presents the development of a test-bench that can be leveraged to validate an e-bike ABS for multiple bicycle geometry/loading and various test scenarios. The approach consists in reproducing the dynamics of a bicycle thanks to a simulation model and interfacing it with the physical brake and the ABS hardware under test. The results and useability of the obtained hardware in the loop (HiL) test bench are discussed.