CALIFORNIA PATH PROGRAM

INSTITUTE OF TRANSPORTATION STUDIES

UNIVERSITY OF CALIFORNIA, BERKELEY

Brake System Modeling, Control and

Integrated Brake/Throttle Switching:
Phase I
J.K. Hedrick, J.C. Gerdes,
D.B. Maciuca, D. Swaroop
Universtiy of California, Berkeley
California PATH Research Report

UCB-ITS-PRR-97-21

This work was performed as part of the California PATH Program of the
University of California, in cooperation with the State of California Business,
Transportation, and Housing Agency, Department of Transportation; and the
United States Department of Transportation, Federal Highway Administration.
The contents of this report reflect the views of the authors who are responsible
for the facts and the accuracy of the data presented herein. The contents do not
necessarily reflect the official views or policies of the State of California. This
report does not constitute a standard, specification, or regulation.
Report for MOU 101

May 1997
ISSN 1055-1425

CALIFORNIA PARTNERS FOR ADVANCED TRANSIT AND HIGHWAYS

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Actual and Desired Vehicle Velocities

24

Velocity (m/s)

23
22
21
20
19
0

10
12
Time (seconds)

14

16

18

20

16

18

20

16

18

20

Actual and Desired Manifold Pressures

Manifold Pressure (kPa)

100
80
60
40
20
0
0

10
12
Time (seconds)

14

Actual and Desired Brake Pressures

Caliper Pressure (kPa)

600
500
400
300
200
100
0
0

10
12
Time (seconds)

cfl 3jG
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14


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Time History of asynth and aresid Illustrating Switching Condition

Acceleration (m/s/s)

1
0.5
0
0.5
1
0

8
10
12
Time (seconds)

c/ljC 47\+

14

16

18

20

 3j+

Time History of asynth and aresid Illustrating Switching Condition

Acceleration (m/s/s)

1
0.5
0
0.5
1
0

8
10
12
Time (seconds)

c- ljC7j\?

14

16

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18

20

13

Actual and Desired Vehicle Velocities

24

Velocity (m/s)

23
22
21
20
19
0

10
12
Time (seconds)

14

16

18

20

16

18

20

16

18

20

Actual and Desired Manifold Pressures

Manifold Pressure (kPa)

100
80
60
40
20
0
0

10
12
Time (seconds)

14

Actual and Desired Brake Pressures

Caliper Pressure (kPa)

600
500
400
300
200
100
0
0

10
12
Time (seconds)

xk

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Velocity of Synthetic Lead Vehicle

23

Velocity (m/s)

22.5
22
21.5
21
20.5
20
0

10
12
Time (seconds)

14

16

18

20

16

18

20

16

18

20

Acceleration of Synthetic Lead Vehicle

Acceleration (m/s/s)

1
0.5
0
0.5
1
0

10
12
Time (seconds)

14

Calculated Value of asynth for Follower

Acceleration (m/s/s)

1
0.5
0
0.5
1
0

10
12
Time (seconds)

14

{-|~}E OC-oC{@how#Gk[ 6!|~jCr |KkM#h#T|~~wMb#E

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Spacing Error During Maneuver

Spacing Error (meters)

0.01
0.005
0
0.005
0.01
0

10
12
Time (seconds)

14

16

18

20

16

18

20

16

18

20

Actual and Desired Manifold Pressures

Manifold Pressure (kPa)

100
80
60
40
20
0
0

10
12
Time (seconds)

14

Actual and Desired Brake Pressures

Caliper Pressure (kPa)

600
500
400
300
200
100
0
0

10
12
Time (seconds)

14

{|}ETGCoT\{@h~zw#xMr|~y4# |~-@h #CGy@h|@

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Velocity of Lead Vehicle

24

Velocity (m/s)

23
22
21
20
19
0

10
12
Time (seconds)

14

16

18

20

14

16

18

20

16

18

20

Acceleration of Lead Vehicle

Acceleration (m/s/s)

1
0.5
0
0.5
1
0

10
12
Time (seconds)

Calculated Value of asynth for Follower

Acceleration (m/s/s)

1
0.5
0
0.5
1
0

10
12
Time (seconds)

14

-~E~TRy~~oGMM#G!h#Cwyb#E

Spacing Error During Maneuver

Spacing Error (meters)

0.015
0.01
0.005
0
0.005
0.01
0.015
0

10
12
Time (seconds)

14

16

18

20

16

18

20

16

18

20

Actual and Desired Manifold Pressures

Manifold Pressure (kPa)

100
80
60
40
20
0
0

10
12
Time (seconds)

14

Actual and Desired Brake Pressures

Caliper Pressure (kPa)

600
500
400
300
200
100
0
0

10
12
Time (seconds)

14

-~E C~oC@h~~o6xh#Cv ~#Bx@h #0G@y2xy~~R

h

Velocity of Lead Vehicle

Velocity (m/s)

30

25

20

15
0

10
15
Time (seconds)

20

25

20

25

20

25

Acceleration of Lead Vehicle

Acceleration (m/s/s)

1
0
1
2
3
0

10
15
Time (seconds)

Calculated Value of asynth for Follower

Acceleration (m/s/s)

1
0
1
2
3
0

10
15
Time (seconds)

-~E C +dK@how#6MM# 6!M#h#T~~wMb#E

Spacing Error During Maneuver

Spacing Error (meters)

0.03
0.02
0.01
0
0.01
0.02
0

10
15
Time (seconds)

20

25

20

25

20

25

Actual and Desired Manifold Pressures

Manifold Pressure (kPa)

100
80
60
40
20
0
0

10
15
Time (seconds)

Actual and Desired Brake Pressures

Caliper Pressure (kPa)

2000
1500
1000
500
0
0

10
15
Time (seconds)

ET~ G@h~zw#G+C!;y ~#@hT#22G@y-

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Spacing Errors for 10 Followers in Platoon

0.015

0.01

Spacing Error (meters)

0.005

0.005

3
2

0.01

0.015

0.02
0

10
15
Time (seconds)

20

25

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