Autonomous Emergency Braking Considering Road Slope and Friction Coefficient

Abstract

The Autonomous Emergency Braking (AEB) systems have been actively studied for the safety enhancement and commercialized for the past few years. Because the driver tends to overly rely upon active safety systems, AEB needs to be designed to reflect the real road situations such as various road slope and friction coefficient. In this study, an AEB control algorithm is proposed to compensate for the effects of the slope and the friction of road. Based on the maximum possible deceleration for the real road conditions, the minimum braking distance is described with margin parameters for AEB activation control. The deceleration controller with a feedforward term is designed to avoid the collision during AEB operation on real road conditions. The proposed algorithm is validated in simulations first and the experimental verification is performed in the various slope conditions.