This paper proposes a collision avoidance method for vehicle longitudinal velocity control based on multi-vehicle collision distance estimation. The method begins by estimating the position and shape of object vehicles with collision risk using environmental sensors. The collision point is identified from the object vehicle’s surface, and a Kalman filter is applied for accurate estimation. The optimal collision distance is then determined by evaluating the collision risk at the identified point. A longitudinal control technique, incorporating the optimal collision distance and time gap, is employed to implement the collision avoidance system. The proposed method was validated through scenario-based simulations involving multi-vehicle collision avoidance, which were implemented in an environment combining ROS and the MORAI simulator, along with comparative experiments. Comparative studies with conventional vehicle center-based approaches demonstrated that the proposed surface-based collision point method significantly enhances collision avoidance performance. While the conventional method led to a collision between the ego and object vehicles, the proposed method successfully avoided the collision by maintaining a separation of about 3.6 m, demonstrating its feasibility and reliability.

Because of their substantial weight and high centers of gravity, commercial vehicles require braking systems that ensure maximum performance and safety. Accurate braking control is vital for preserving safe vehicle dynamics by preventing lateral instability due to excessive deceleration or rear-wheel lock-up. Considering the growing demand for safety in medium-duty commercial vehicles, we introduce a rule-based dynamic braking controller for pneumatic electronic parking brake (EPB) systems. The proposed system is established using a model-based design (MBD) framework involving a V-cycle development process. The rule-based controller is designed to control the braking force based on wheel slip, thereby ensuring both adequate braking distance and lateral stability during emergency braking. Simulations and real-vehicle tests confirmed that the proposed control strategy can maintain lateral stability across varying loading and road-surface conditions. The results highlight the dynamic braking capability of the proposed pneumatic EPB system and its feasibility as an emergency braking solution. The effectiveness of the proposed controller in preventing wheel lock supports the use of MBD for developing safety-aware controllers.