Research on AEB control of autonomous vehicles based on sensor fusion perception

doi:10.3969/j.issn.1674-8484.2025.04.013

Abstract

Abstract:

To address the limitations of existing automatic emergency braking (AEB) systems—such as the susceptibility to obstacle misidentification in complex scenarios, the insufficient consideration of the preceding vehicle's acceleration, and the lack of control precision—this paper proposed an obstacle detection approach that integrated visual and LiDAR perception. A hierarchical AEB control strategy based on model predictive control (MPC) was designed to determine the desired braking deceleration, and a proportional-integral-derivative (PID) controller was employed to regulate the vehicle's brake master cylinder pressure. The results show that the proposed obstacle detection method can accurately identify obstacles in complex scenarios. Furthermore, the controller enables the vehicle to achieve a 100% deceleration rate across various AEB test scenarios, with braking acceleration being output as intended. The proposed methodology effectively enhances both safety and ride comfort during the automatic emergency braking process.

Key words: vehicle safety, Intelligent vehicle, autonomous emergency break (AEB), obstruction detection, model predictive control (MPC)

CLC Number:

U461.91

GAO Chaojun, LI Yicheng, CAI Yingfeng, WANG Hai, JIANG Jin. Research on AEB control of autonomous vehicles based on sensor fusion perception[J]. Journal of Automotive Safety and Energy, 2025, 16(4): 629-637.

Figures/Tables 13

References 21

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整备质量，m	1 412 kg
车长，L	4.50 m
轴距，L₀	2.91 m
车宽，B	1.90 m
路面附着系数，μ	0.85 C
最大制动力，p_bm	15 MPa

整备质量，m	1 412 kg
车长，L	4.50 m
轴距，L₀	2.91 m
车宽，B	1.90 m
路面附着系数，μ	0.85 C
最大制动力，p_bm	15 MPa

场景	v_s / (m·s^-1)	v_f / (m·s^-1)	d_r0 / m	a_f / (m·s^-2)
CCR_s1	5.56	0	50	0
CCR_s2	11.11	0	50	0
CCR_m1	8.33	5.56	50	0
CCR_m2	18.06	5.56	50	0
CCR_b1	13.90	13.90	40	-2
CCR_b2	13.90	13.90	40	-4
CCR_b3	20.00	13.90	40	-6
CCR_b4	25.00	13.90	40	-6

场景	v_s / (m·s^-1)	v_f / (m·s^-1)	d_r0 / m	a_f / (m·s^-2)
CCR_s1	5.56	0	50	0
CCR_s2	11.11	0	50	0
CCR_m1	8.33	5.56	50	0
CCR_m2	18.06	5.56	50	0
CCR_b1	13.90	13.90	40	-2
CCR_b2	13.90	13.90	40	-4
CCR_b3	20.00	13.90	40	-6
CCR_b4	25.00	13.90	40	-6

距离/ m	本方法平均精度/ %			YOLOv11平均精度/ %
距离/ m	5 m/s	10 m/s	15 m/s	5 m/s	10 m/s	15 m/s
50	85	81	79	82	78	76
30	88	85	80	85	82	76
20	89	87	85	86	84	81