I designed the Emergency Braking System, it actuates the brakes at the end of an autonomous mission, or whenever there is a fault or in the worst case when the remote emergency stop button is pressed.

Design for the EBS started as a block diagram of how and when the system will need to trigger. Using this and the rules, I developed requirements to determine the data needed from the car to specify pressures and hardware for the EBS.

From driving data, I found the lower bound brake pressure for both the rears and the fronts for 10[m/s²] as specified by rules.

To spec the pressure regulators, I needed to know what the optimal front/rear brake bias is.

Because of number of pistons in front vs rear calipers, there is a 66% front torque bias when both lines have equal pressure.

66% is within the range for optimal bias at the velocities we are operating in.

Therefore we can safely use the same spec pneumatic pressure regulator on each of the rear/front lines

Once I got the pressure specs, I drew a block diagram for the first revision of EBS

Using the block diagram, I created the rev1 EBS design with two linear pneumatic actuators directly pushing the brake pedal.

Issues with this design are discussed below.

EBS rev2 diagram, the improvements include:

Series wiring eliminates the need for a block manifold

3/2 manual release valve keeps high pressure in when open

Keeps access hole open

EBS rev2 actuator design

EBS rev2 actuator design

EBS rev2 in its entirety