California Partners for Advanced Transportation Technology

In this report, we develop nonlinear dynamical models and longitudinal control algorithms that coordinate variable compression brake mechanism with service brakes for a Class-8 commercial heavy vehicle. For the coordination and full use of these retarding actuators, we model the multivariable system based on physics-based principles and experimental data. We show that, for one specific critical braking maneuver, the coordination of compression and service brakes reduces the use of the service brakes by a factor of 45, and that it reduces the settling time by a factor of 2. Key words: Advanced Vehicle Control Systems, Brakes, Commercial Vehicle Operations. Speed Control, Vehicle Dynamics