Performance of AEB System on a Slope Using an Extended Kalman Filter

Abstract

In this study, the performance of a slope Autonomous Emergency Braking (AEB) system that estimates the angle of inclination in a V2V-based vehicle was evaluated. Existing AEB systems do not take changes in the angle of inclination into account or they use a reference angle, which results in limited braking properties on a slope. To improve the braking properties of AEB systems on slopes, the angle of inclination must be estimated. We propose an AEB system that employs an extended Kalman filter, along with an in-vehicle sensor (ESC) combined with a bicycle model and linear tire model to estimate the angle of inclination. We conducted comparative analysis via simulations of the performance of the proposed AEB system with those of an AEB system that does not consider slope and another one that uses a reference angle of inclination at a variety of angles of inclination and velocities. The results obtained verify the utility of the proposed extended Kalman filter-based AEB system on slopes.

Design of advanced emergency braking system based on vehicle-road cooperation

“…1 Multi-layer filtering and screening process of the application scenario In the first accident risk guideline layer, the characteristics of traffic accidents in China are further analyzed based on the statistical data of the Annual Report on Road Traffic Accident Statistics, and collisions are classified in three dimensions: "casualties", "property damage" and "road type", and the current high-risk collision scenarios are summarized. [3] In the second safety prevention and control guideline layer, the current collision prevention and control system (AEBS) failure scenarios are summarized by the six-layer functional decomposition method, [4] removing the set of scenarios that have been effectively solved in the high-risk accident scenarios in the first guideline layer, and retaining the set of scenarios that cannot be effectively prevented and controlled by AEBS in the high-risk collision scenarios.…”

Research on the Emergency Obstacle Avoidance Strategy of Intelligent Vehicles Based on a Safety Distance Model

“…The accuracy of the obstacle avoidance strategy is determined by whether the safety distance model is reasonable, and the effectiveness of obstacle avoidance strategy is determined by the accuracy of obstacle avoidance control. References [6] and [7] designed an emergency braking algorithm that took ramps into account to improve the performance of emergency obstacle avoidance systems on sloping roads. References [8], [9], and [10] proposed a braking obstacle avoidance strategy based on the collision safety time that improved the accuracy of obstacle avoidance.…”

An Evaluation System Based on User Big Data Management and Artificial Intelligence for Automatic Vehicles

“…This study described the evaluation system of the automatic emergency braking algorithm (AEB). The AEB function (Kim et al, 2019) is implemented to measure the distance between the vehicle and the preceding vehicle, or the vehicle and other obstacles, while it adopts early warning and automatic braking when the distance is less than the safe distance.…”