Modeling Vehicle Braking Dynamics to Support Advanced Driver Assisting Systems

Abstract

The objective of this thesis is to improve vehicle braking behavior to increase vehicle stability. In this thesis, a new exact double track (quad cycle) vehicle handling model is derived using the exact equations of the cornering forces of the vehicle four wheels. The new model is based on three braking control systems: electronic braking force distribution (EBD), anti-lock braking system (ABS), and proportional integral differential (PID) vehicle heading control system. The new model is compared with two other vehicle handing models: single track model and simple double track model.

The SIMULINK of the three mathematical models have been built, and a comprehensive comparison has been carried out under certain conditions. This comparison shows that the exact double track model is the most accurate model that should be used as a platform for vehicle control systems instead of the other two models.

The exact double track model has been also tested and analyzed at different case studies that include driving at high speeds and negotiating sharp turns on split road. The results prove the accuracy and the reliability of this new model.