Development of an Adaptive Autonomous Emergency Braking System Based on Road Friction

Abstract

An autonomous emergency braking (AEB) system is a driver assistance system that helps to avoid or mitigate the damages of rear-end collisions. This is achieved by alerting the driver through collision warnings to induce driver initiated braking. If the driver does not react to the warnings issued by the system, then the AEB system starts applying the brakes autonomously. Conventional AEB systems do not take into account the situations that affect the stopping distance such as tire/road friction coefficient and road slope. This paper presents an adaptive AEB system algorithm that adapts the timings of the collision warnings and emergency braking by taken into account the tire/road friction coeffi-cient. The proposed AEB algorithm incorporates wheel slip ratio based friction estimation into its decision making logic. Simulations revealed that the friction estimation is dependent on the vehicle mass and road slope. Due to this reason, mass and road slope estimation are also studied.