Variable Time Headway Autonomous Emergency Braking Control Algorithm Based on Model Predictive Control

To avoid collision in emergency situations, a variable time headway (VTH) autonomous emergency braking (AEB) control algorithm based on model predictive control (MPC) theory is proposed. The VTH based safety distance model is designed to avoid this kind of interference. Taking into account of collision avoiding, driver characteristics and ride comfort factors, the AEB controller is designed. The distance between the two vehicles, the relative velocity, the velocity and acceleration of the ego vehicle are taken as the variables to construct the state equation. The ego vehicle can slow down or take an emergency braking control. Several simulation conditions are conducted to validate the proposed AEB controller by the testing standards for AEB system. Results indicate that the proposed VTH based AEB controller can meet the requirements of AEB system.