Research on Integrated Navigation in AEB System Based on Multi-Source Fusion

An autonomous emergency braking system (AEBS) with environmental sensing and adaptive decision control is designed by using multi-source information fusion and adaptive control. To meet the continuous and high-precision navigation and positioning requirements of the AEB system, an integrated navigation system constructed by GNSS, INS, and millimeter-wave radar was designed. Two different strategies of integration are presented according to the availability of the GNSS information. If the GNSS information is available, the GNSS/INS loose coupled integrated navigation is used and if the GNSS information is unavailable, it adopts the velocity constraints to aid the integration navigation algorithm. The test results show that when GNSS information is unavailable, the velocity accuracy of integrated navigation can be maintained within 0.5 m/s. It ensures the navigation accuracy and continuity of the AEB system.