An experienced driver will `feather' the brakes so as to unwind the suspension compliance and stop the vehicle with only just enough torque in the brakes to hold the vehicle stationary on any gradient, or against the residual torque from an automatic transmission’s torque converter.
An optimal stopping problem that minimises the total jerk was formulated and solved. This model was extended by including a linear relationship between the brake pressure and the acceleration of the car where the coefficients are estimated by linear regression. Finally, a Kalman filter estimates the state of the car using the tone wheel
