K. Gounis, N. Bassiliades, "Intelligent Momentary Assisted Control for Autonomous Emergency Braking", Simulation Modelling Practice and Theory, Vol. 115, 2022, 102450. DOI: 10.1016/j.simpat.2021.102450
Author(s): K. Gounis, N. Bassiliades
Appeared In: Simulation Modelling Practice and Theory, Vol. 115, 2022, 102450. DOI: 10.1016/j.simpat.2021.102450
Keywords: AEB, braking safety distance, Modelling and Simulation, Artificial Intelligence, Sliding Mode, Lyapunov Stability, Optimal Control, Gain Scheduling, MATLAB/Simulink
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Abstract: Development of control algorithms for enhancing performance in safety-critical systems such as the Autonomous Emergency Braking (AEB) system is an important issue in the emerging field of automated electric vehicles. In this study, we model a safety distance-based hierarchical AEB control system constituted of a high-level Rule-Based Supervisory control module, an intermediate-level switching algorithm and a low-level control module. The Rule Based supervisor determines the required deceleration command that is fed to the low-level control module via the switching algorithm. In the low-level, two wheel slip control algorithms were developed, a Robust Sliding Mode control algorithm with an Artificial Neural Network (ANN) for nonlinear parameter estimation and a Gain-Scheduled Linear Quadratic Regulator. For the needs of this control design, a non-linear dynamic vehicle model was implemented whereas a constant tire-road friction coefficient was considered. The proposed control system was validated in Simulink, assuming a straight-line braking maneuver on a flat dry road. The simulation results demonstrated satisfactory emergency braking performance with full collision avoidance in both proposed control system combinations.