Title :
Adaptive emergency braking control using a dynamic tire/road friction model
Author :
Yi, Jianjia ; Alvarez, Luis ; Horowitz, Roberto ; De Wit, Carlos Canudas
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
Abstract :
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
Keywords :
adaptive control; automated highways; braking; force control; friction; road vehicles; velocity control; LuGre model; adaptive control; antilock-braking-systems; automated highway systems; emergency braking; force control; relative velocity control; road vehicles; tire/road friction model; Adaptive control; Automated highways; Automatic control; Control systems; Force control; Friction; Programmable control; Road vehicles; Tires; Vehicle dynamics;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.912806
