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Variable Structure Control for Emergency Braking Systems using LuGre Tire Model

In this paper, a variable structure control (VSC) controller (also known as sliding mode control (SMC)) is proposed for emergency braking control with a dynamic tire/road friction model called LuGre model. After investigating the factors which may have influence on the vehicle longitudinal dynamic response, a complex quarter vehicle model of the vehicle longitudinal dynamic system is obtained with LuGre model. To facilitate the controller design, a simplified quarter vehicle model is established, and using this simplified model, the VSC controller is designed. Furthermore, its stability is proved using Lyapunov stability theory in this paper, and it has better performance of convergence compared with conventional PID controller which is shown by simulation results.