Brake system requirements for platooning on an automated highway

To date, brake actuation has presented an obstacle to experimental demonstration of constant-spacing laws for automated vehicle following. Such difficulties can be traced to the lack of a unique actuation strategy and the strict, though not well defined, demands of platooning. This paper presents the results of a simulation study to examine the effects of brake dynamics within the multiple surface sliding control strategy proposed for platoon control. From these results, critical interactions among brake dynamics, spacing and passenger comfort are identified. Such analysis indicates that a brake system for platooning should bypass the vacuum booster, incorporate torque feedback and minimize delays in the time response