Delaigue, P. and Eskandarian, A. (2004) "A comprehensive vehicle braking model for predictions of stopping distances," Journal of Automobile Engineering, 218(12), 1409-17.

Abstract: Design and development of vehicle collision avoidance systems, adaptive or intelligent cruise control and brake assistance systems requires an accurate understanding of vehicle stopping capability. The focus of this thesis was to develop a comprehensive braking model, which could predict the stopping distance of various vehicles under given sets of vehicle, driver and environmental conditions. The purpose of this model is to enable quick estimation of vehicle stopping performance in a braking event. This dynamic model could therefore be viewed as a useful tool to provide guidelines for collision avoidance and traffic design studies. First a dynamic friction model was selected. Then a complete braking model for a vehicle was developed. This project emphasized on the tire, brakes and driver’s influences during the braking event. The behaviors of these components were computed using the governing analytical dynamic equations. This program was developed using MATLAB and SIMULINK. This offered the advantage of not requiring complex vehicle handling codes, therefore extensive parameters values and validations. The model using experimental data from several sources has been validated. The results were compared with vehicle track tests stopping distances. The model resulted in precise and relatively accurate stopping distances values.