Adaptive emergency braking control using a dynamic tire/road friction model

A controller for emergency braking of vehicles in automated highway systems (AHS) is designed. The scheme is based on the estimation of both the LuGre tire/road friction dynamic model and the braking system gain. The controller estimates the tire/road relative velocity which achieves maximum braking force based on a quasi-static solution of the LuGre friction model and sets the master cylinder pressure to track that relative velocity. This control system is designed to work in conjunction with antilock-braking-systems providing two advantages: less chattering during braking and a source of a priori information regarding safe spacing.

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