Development of robust braking controller for autonomous vehicles to achieve any ride comfort performance

The number of automobile accidents still exceeds 300,000 as of 2020 in Japan. People have paid attention to the automatic driving technology as one technology for reduction of the number of accidents. To achieve this goal, the various automatic driving control methods have been developed. However, these automatic driving systems have some problems, such as the passengers' ride comfort. To overcome this problem, we developed a robust braking controller that can realize the ride comfort desired by the passenger, even though the vehicle parameters are different from the nominal values. To develop this system, at first, we designed an ideal vehicle brake model that can easily achieve the ride comfort. Next, we developed a robust braking controller for vehicles. To confirm that our controller meets the demand performance, we performed numerical simulations. As a result, we confirmed that our brake system satisfies the requirement of the ride comfort and braking performance simultaneously, even though vehicle parameters are varied plus or minus 20% different from nominal values.