AUTONOMOUS EMERGENCY BRAKING CONSIDERING ROAD SLOPE
AND FRICTION COEFFICIENT |
Hyunkyu Kim1, Kyungsik Shin1, Iljoon Chang2, Kunsoo Huh1 |
1Hanyang University 2Gachon University |
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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. |
Key Words:
AEB system, Low friction, Road slope, Longitudinal dynamics |
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