System of modeling anti-lock brake system controller of vehicle

A system of modeling an anti-lock brake system (ABS) controller of a vehicle, the system comprising:

• a vehicle speed estimation network including a plurality of one-dimensional convolution layers configured to estimate a vehicle speed through machine learning using data obtained by sequentially measuring several times a wheel speed for each wheel of a vehicle at predetermined time intervals;
• a wheel speed state estimation network including a plurality of long short term memory (LSTM) networks configured to estimate a time series characteristic of the wheel speed through machine learning using a plurality of pieces of wheel speed data sequentially measured at the predetermined time intervals for each wheel of the vehicle and information on whether a brake pedal of the vehicle is depressed;
• a concatenate layer configured to concatenate the speed estimation data estimated by the vehicle speed estimation network with the time series characteristic estimation data of the wheel speed estimated by the wheel speed state estimation network to provide the concatenated data to the classification network;
• and
• a classification network including at least one fully connected (FC) layer configured to estimate a braking mode for controlling an increase, a decrease, or steady state of a braking pressure of each wheel through machine learning using the speed estimation data of the vehicle and the time series characteristic estimation data of the wheel speed, which are provided from the concatenate layer.