Braking System Design and Experiment Research of an Off-Road Autonomous Vehicle

A double circuit electrical hydraulic braking (EHB) system was developed, in consideration of the structures and features of hydraulic power braking of a four-wheel drive off-road vehicle. The system could implement electrical brake at the autonomous mode and pedal brake at the manual mode. Meanwhile, the two modes could be switched seamlessly, and the manual mode showed a higher priority than the autonomous mode. The system was applied to a four-wheel drive off-road vehicle. Static and real world tests were carried out to obtain the biasing and response characteristics of the system. On this basis, electrical braking tests were conducted. Experiment results show that the EHB system can meet the requirements of an autonomous vehicle.