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To obtain the tire–pavement peak adhesion coefficient under different road states, a field measurement and FE simulation were combined to analyze the tire–pavement adhesion characteristics in this study. According to the identified texture information, the power spectral distribution of the road surface was obtained using the MATLAB Program, and a novel tire hydroplaning FE model coupled with a textured pavement model was established in ABAQUS. Experimental results show that here exists an “anti-skid noncontribution area” for the insulation and lubrication of the water film. Driving at the limit speed of 120 km/h, the critical water film thickness for the three typical asphalt pavements during hydroplaning was as follows: AC pavement, 0.56 mm; SMA pavement, 0.76 mm; OGFC pavement, 1.5 mm. The road state could be divided into four parts dry state, wet sate, lubricated state, and ponding state. Under the dry road state, when the slip rate was around 15%, the adhesion coefficient reached the peak value, i.e., around 11.5% for the wet road state. The peak adhesion coefficient for the different asphalt pavements was in the order OGFC > SMA > AC. This study can provide a theoretical reference for explaining the tire–pavement interactions and improving vehicle brake system performance.

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.