A CONTROL SYSTEM AND METHOD FOR AN ARTICULATED VEHICLE COMPRISING AN AUTONOMOUS EMERGENCY BRAKING SYSTEM

By | September 13, 2018

The invention relates to a control system (26) for an articulated vehicle (10) comprising a towing vehicle (12), a trailer (14) and an autonomous emergency braking system (24), wherein the control system comprises: brake control means (29) adapted to apply a friction-estimating braking; brake force capacity estimation means (40) adapted to estimate the brake force capacity of the vehicle as a function of longitudinal wheel slip based on the applied friction-estimating braking; axle load estimation means (32) adapted to estimate the normal force on each wheel axle (20a-c, 22a-b) of the vehicle; friction estimation means (30) adapted to estimate a friction coefficient based on the estimated brake force capacity and at least one of the estimated normal forces; and brake strategy adaptation means (34) configured to adapt the brake strategy of the autonomous emergency braking system by adjusting the brake force for at least one wheel axle of the vehicle based on the estimated friction coefficient and the at least one wheel axle’s estimated normal force.

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