Emergency braking control in automated highway systems with underestimation of friction coefficient

Abstract

A control scheme for emergency braking maneuvers in automated highway systems (AHS) is designed. Based on the estimation of the tire/road friction and overall brakes system gain, the pressure in the master cylinder of the braking system is calculated to achieve maximum deceleration during braking for the given set of parameter estimates. Under a proper choice of initial condition, this scheme underestimates the maximum coefficient of friction and allows a conservative calculation of safe inter-vehicle spacing.