Tests a new brake-by-wire system in self-driving vehicles, suggesting improved braking accuracy.
The brake-by-wire system of autonomous driving vehicles is facing two challenges, mechanism-decoupled architecture and pressure-hydraulic following. The mechanism-decoupled architecture may realize an independent braking, where the brake pedal does not follow-up. The pressure-hydraulic following may realize an accurate braking by wire. In this article, we design a parallel mechanism that does not make the brake pedal follow the lead screw action, which is formulated to be a machine-hydraulic dynamics model. A backstepping controller with adaptive LuGre friction compensation is developed to control the brake-by-wire system for the pressure-hydraulic demand. A mBooster is produced to be provided with the parallel mechanism, which is assembled into a self-driving van as an experimental platform. Some comparative simulations and experiments between the adaptive backstepping controller and the proportional-integral controller, are tested in the self-driving van with the mBooster brake-by-wire system. According to the experimental results, it is concluded that the mBooster by the adaptive backstepping controller is a good brake-by-wire candidate for the self-driving vehicle.
No takes yet. Share an insight, caveat, or question.
He et al. (2026) studied this question.
Synapse has enriched 5 closely related papers on similar clinical questions. Consider them for comparative context: