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Brake System Modeling, Control And Integrated Brake/throttle Switching Phase I

Author

Listed:
  • Hedrick, Karl
  • Gerdes, J.C.
  • Maciuca, D.B.
  • Swaroop, D.

Abstract

This report is concerned with the modeling and control issues regarding braking in an Intelligent Transportation Systems (ITS) setting. Specifically, it addresses the issue of vehicle control in an automated highway system, brake actuation and coordinated brake and throttle switching. It first presents a hydraulic model of the brake system. A method for designing stable controllers for uncertain, mismatched nonlinear system is then described. A method to estimate the coefficient between the brake pressure at the wheel and the brake torque is presented. The next section describes a controller structure which can modulate the engine and the brake torque to perform the four basic longitudinal control actions of speed control, spacing control, platoon joining and platoon splitting.

Suggested Citation

  • Hedrick, Karl & Gerdes, J.C. & Maciuca, D.B. & Swaroop, D., 1997. "Brake System Modeling, Control And Integrated Brake/throttle Switching Phase I," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt02b8f7q2, Institute of Transportation Studies, UC Berkeley.
    • Handle: RePEc:cdl:itsrrp:qt02b8f7q2
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    Cited by:

    1. Boukhari, Mohamed Riad & Chaibet, Ahmed & Boukhnifer, Moussa & Glaser, Sébastien, 2019. "Two longitudinal fault tolerant control architectures for an autonomous vehicle," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 156(C), pages 236-253.

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