A Comprehensive Method to Evaluate Ride Comfort of Autonomous Vehicles under Typical Braking Scenarios: Testing, Simulation and Analysis

Abstract

To highlight the advantages of autonomous vehicles (AVs) in modern traffic, it is necessary to investigate the sensing requirement parameters of the road environment during the vehicle braking process. Based on the texture information obtained using a field measurement, the braking model of an AV was built in Simulink and the ride comfort under typical braking scenarios was analyzed using CarSim/Simulink co-simulation. The results showed that the proposed brake system for the AV displayed a better performance than the traditional ABS when considering pavement adhesion characteristics. The braking pressure should be controlled to within the range of 4 MPa~6 MPa on a dry road, while in wet road conditions, the pressure should be within 3 MPa~4 MPa. When steering braking in dry road conditions, the duration of the “curve balance state” increased by about 57.14% compared with wet road conditions and the recommended curve radius was about 100 m. The slope gradient had a significant effect on the initial braking speed and comfort level. Overall, the ride comfort evaluation method was proposed to provide theoretical guidance for AV braking strategies, which can help to complement existing practices for road condition assessment.