The paper demonstrates a simplified model of brake dynamics for vehicle control, indicating effective performance in intelligent cruise control and platooning.
This paper develops a model of brake system dynamics tailored to the demands of vehicle control applications such as intelligent cruise control and platooning. By combining a static representation of the control valve mechanism with dynamic air flows, the vacuum power assist is described by a two-state model. The remaining brake hydraulics are modeled as a nonlinear, first-order system under the assumption of incompressible flow into an experimentally determined capacitance. Experimental testing confirms that the reduced-order model is valid even for the sharp transients of a step input. Furthermore, the simplified model demonstrates accuracy comparable or superior to that of more complex models available in the literature.
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Gerdes et al. (1995) studied this question.
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