The article describes the main development and testing aspects of an emergency braking function for an autonomous vehicle. The purpose of this function is to prevent the vehicle from collisions with obstacles, either stationary or moving. An algorithm is proposed to calculate deceleration for the automated braking, which takes into account the distance to the obstacle and velocities of both the vehicle and the obstacle. In addition, the algorithm adapts to deviations from the required deceleration, which are inevitable in the real-world practice due to external and internal disturbances and unaccounted dynamics of the vehicle and its systems. The algorithm was implemented as a part of the vehicle’s mathematical model. Simulations were conducted, which allowed to verify algorithm’s operability and tentatively select the system parameters providing satisfactory braking performance of the vehicle. The braking function elaborated by means of modeling then was connected to the solenoid braking controller of the experimental autonomous vehicle using a real-time prototyping technology. In order to estimate operability and calibrate parameters of the function, outdoor experiments were conducted at a test track. A good consistency was observed between the test results and simulation results. The test results have proven correct operation of the emergency braking function, acceptable braking performance of the vehicle provided by this function, and its capability of preventing collisions.

The article describes an approach to development and testing of a path tracking function for an autonomous vehicle. The essence of the approach consists in combining experimental data and mathematical modeling in order to simulate operation of a path-tracking regulator in real world maneuvers. The procedure can be divided into two stages. The first one implies field-testing of the vehicle under control of a human driver with logging of the essential dynamic variables including the driving trajectory. Then the obtained data is used to validate the model of vehicle dynamics being a tool for further simulations. At the second stage, a simulation is performed with tracking of the previously logged trajectory by an automatic regulator. The results of these steps allow for comparison between the human and automatic controls with assessment of pros and cons of the latter and the ways of improving its performance. The proposed approach was implemented within a research and development project aimed at building of an experimental autonomous vehicle. The article describes the obtained results as well as the experiments and the mathematical model used for implementation of the said approach.