Adaptive emergency braking control in automated highway systems

Abstract

A control scheme is designed for emergency braking of vehicles in automated highway systems (AHS). The scheme is based on the estimation of both the tire/road friction and the braking system gain. The control system output is the pressure in the braking system calculated in such a way that a maximum deceleration level is achieved at all times during braking. This system is designed to work combined with an anti-lock braking systems providing two advantages, less chattering during braking and a source of a priori information regarding safe spacing.