Control-oriented Models of Braking Dynamics

This chapter is devoted to introducing the models of the braking dynamics employed for the design of the different active braking control systems developed in the next chapters,

i.e.

, the single-corner and double-corner models.

As both single-corner and double-corner vehicle models clearly employ a tyre–road friction description, based on which the contact forces can be defined, before introducing the vehicle braking dynamics the force and friction model adopted in this book will be presented.

Note that the treatment of these topics is not intended to provide a comprehensive overview on vehicle modeling nor to present all the available contact forces and tyre–road friction models available in the literature. The aim is to provide the reader with the description of the dynamical models which are of interest for the design of braking control strategies. For a more detailed discussion on these topics, the reader may refer to,

e.g.

, [45, 71, 84].

The chapter is structured as follows. Section 2.2 introduces tyre–road contact forces and presents the adopted friction model. Further, Section 2.3 describes the single-corner model of the braking dynamics, whereas Section 2.4 the double-corner one. In Section 2.5 the considered dynamical models of the braking dynamics are analysed and their linearised version is computed. A numerical analysis of the linearised dynamics is also proposed, to point out the sensitivity of the model dynamics to specific vehicle parameters.