System optimization in the control of heavy duty vehicle braking sub-systems

This paper addresses the brake control design for Heavy-Duty Trucks (HDTs) in automated vehicle short distance following operation. The braking system for an HDT is composed of three subsystems: Jake (engine) brake, transmission retarder and pneumatic (air) brake. Judicious combination of these three subsystems for achieving a desired braking torque is critical for both safety and performance. Based on the two different brake modes, the combination of the engine brake and the air brake and the combination of the transmission retarder and the air brake, two different control designs are proposed such that the total braking torque tracks its target value rapidly and the truck follows its leading truck in speed with a constant gap distance. Numerical simulation shows the effectiveness of the proposed control designs.