As autonomous vehicles become more prevalent in day-to-day military and industry operations, the technology surrounding functionally-safe autonomous subsystems must become increasingly reliable. A vehicles kinetic energy must be safely dissipated during a stop.Steering and braking must be done intelligently to maintain vehicle control and mitigate vehicle wear and tear.There are many factors to consider when bringing a vehicle to a stop, including terrain, vehicle dynamics, mission goals, and obstacle avoidance.We propose to develop an intelligent stopping controller that uses available sensory information and a sophisticated vehicle model to issue optimally-safe steering and braking commands.Autonomous Solutions, Inc. (ASI) is a leader in developing vehicle automation kits. The work proposed here will allow for more sophisticated stopping based on vehicle state, vehicle dynamics and capability, and environmental factors. This work includes identifying necessary steps to get this emergency stop system safety-certified. Of special interest to ASI are using terrain information and surface friction estimates together with the vehicle dynamics to bring the vehicle to a safe stop without incurring unnecessary wear and tear.emergency stop,autonomous vehicle,rollover protection,Safety System,ground vehicle,driver assist,artificial intelligence,Vehicle Control
