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 quasistatic 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 (ABS) providing two advantages: less chattering during braking and a source of a priori information regarding safe spacing.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 456-461 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE Conference on Decision and Control |
| Volume | 1 |
| DOIs | |
| State | Published - Dec 2000 |
| Externally published | Yes |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization