Effective Objective Detection and Hybrid Predictive Control for Intelligent Vehicle Automatic Emergency Braking Under Curving Road Scenario

The automatic emergency braking system (AEB) of intelligent automobile is prone to false triggering or failure in curve environment. This paper presents a hierarchical AEB objective detection and predictive control methods under two typical curve conditions: curving road, turning into straight road. In the upper layer, a geometric curving compensation method is developed to detect the potential collision target in curving condition. Then, the inversed of Time To Collision (iTTC) and risk effective factor (γ ) calculated based on the relative states of self-vehicle and potential target are used to determine the expected. A hybrid predictive control-based speed tracking algorithm is designed in the lower control layer, where the tire braking force characteristics are systematically analysed and the braking force model are converted into a mix logical force model to accommodate the tire force saturation situation. Finally, the co-simulation and car-like robot test are carried out to verify the feasibility and effectiveness of proposed strategy.