Autonomous Emergency Control Algorithm for Intelligent Vehicles

Abstract:

The algorithm of AEB (autonomous emergency control) was analyzed based on driver behaviors and effectiveness of different collision avoidance maneuvers. The results show that the current emergency braking algorithm cannot well adapt to driver behaviors under emergency conditions and the potential of collision avoidance is also limited. Therefore, in this paper an autonomous emergency control (AEC) algorithm, which integrated braking and steering control, was proposed. In this algorithm the driver is always in the loop and the information of driver model, while the vehicle model and road environment model are integrated to determine the appropriateness of the driver’s behavior. The resulting corrective control input, which added to the driver’s input, is then used to correct the driver’s inappropriate behavior.