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Autonomous Emergency Braking Control Based on Inevitable Collision State for Multiple Collision Scenarios at Intersection

This article presents a control strategy for the Autonomous Emergency Braking (AEB) system. To acquire a strong applicability in multiple collision scenarios, especially intersection related scenarios, and also a good scalability for the other vehicular trajectory planning applications, the control method utilized the idea of Inevitable Collision States (ICS) to judge the collision risk of the ego car with the various obstacles, taking the dynamic of both ego car and obstacle into account. Vehicle specified characteristics including the reaction time of the braking system and peak braking coefficient are also considered in the dynamic model. The flow chart of the control strategy is presented. Typical intersection related collision scenarios including car-to-car and car-to-bicycle/pedestrian collision are simulated, which well demonstrates the effectiveness of the proposed strategy.