Design and Hardware in the Loop Testing of AEB Controllers

Alfatti, F; Garinei, Michele; Annicchiarico, Claudio; Capitani, Renzo

doi:10.4271/2022-01-0099

Cited by 4 publications

(9 citation statements)

References 17 publications

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“…Considering a system able to instantaneously impose a constant deceleration of −8m/s 2 , the time necessary to completely stop the vehicle is dependent on its speed at the brake request instant [6]. It is thereby evident that the measured TTC must be compared with a different threshold depending on the vehicle speed.…”

Section: Aeb System Descriptionmentioning

confidence: 99%

“…The vehicle whose AEB system is in test is called Ego vehicle, and the possible object in the trajectory which must be avoided is referred as Target vehicle. In particular, the Car-to-Car Rear moving scenarios (CCRm) are analyzed, in order to advance the testing capabilities of the methodology and the tool from [6]. However, there are virtually no limitations on the type and number of scenarios that can be approached in virtual environment, and the methodology that is proposed in this paper can also apply to other structured test scenarios.…”

Section: Aeb System Descriptionmentioning

confidence: 99%

“…However, a database with AEB car tests carried out on the specific CCRs scenario is available thanks to the Institute of Insurance of Highway Safety (IIHS) [9]. In a previous work, the system has been validated on CCRs scenarios taken from this database [6,14]. The controller compares the measured TTC to a pre-defined threshold, which must be speed dependent.…”

Section: Aeb System Descriptionmentioning

confidence: 99%

“…Thanks to hardware in the loop methodologies [6,7], this work proposes a possible methodology to test the complete AEB system, with all its components, in a mixed environment, with virtual scenarios but with actual production hardware. In this way, and via a modular definition of the simulation tools, it is possible to test both controller design variations and their influence on the force actuation on the vehicle.…”

Section: Introductionmentioning

confidence: 99%

“…It is important to note that the use of real time driving simulators is a must, both static and dynamic, for the development of these systems. These tools can include the driver earlier in the development process of both virtual and physical components [6].…”

Section: Introductionmentioning

confidence: 99%

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Hardware in the Loop Methodology for AEB system development

Alfatti

Annicchiarico²,

Capitani

2023

IOP Conf. Ser.: Mater. Sci. Eng.

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Thanks to ADAS systems, vehicle and occupants safety has increased. These systems have however a great impact on design complexity, increasing the time necessary for the launch of the functionality on the market. In this work, a Hardware in the Loop tool and methodology that integrates the Autonomous Emergency System (AEB) is presented, with the objective to speed up the development process. A commercial brake-by-wire braking system has been installed on a static simulator. The unit stock AEB can be activated during the real-time simulation, thanks to a custom strategy reproduced via Software in the Loop approach. In order to assess the capabilities of the proposed methodology, two different controllers have been proposed: the first reproduces the AEB functionality of a commercial car, while the second represent a possible design alternative that must be evaluated during the design phase. The two controllers have been tested in EuroNCAP relevant scenarios, and the performances have been compared in terms of Time To Collision necessary to avoid the impact, deceleration request and final distance from the obstacle. The proposed methodology highlights the role of the static simulator as a development tool that can vastly reduce the time necessary for the development of the AEB system, thanks to an extensive testing of both hardware and control strategy.

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Section: Aeb System Descriptionmentioning

confidence: 99%

Section: Aeb System Descriptionmentioning

confidence: 99%

Section: Aeb System Descriptionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Hardware in the Loop Methodology for AEB system development

Alfatti

Annicchiarico²,

Capitani

2023

IOP Conf. Ser.: Mater. Sci. Eng.

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Identification of Driver’s Braking Intention in Cut-In Scenarios

Li¹,

Sun²,

Liu³

et al. 2023

SAE Technical Paper Series

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<div class="section abstract"><div class="htmlview paragraph">Accurate identification of driver’s braking intention is essential in advanced driver assistance system and can make the driving process more comfortable and trustworthy. In this paper, a novel method for driver braking intention identification in cut-in scenarios was proposed by using driver’s gaze information and motion information of cut-in vehicles. Firstly, a "looking in and looking out" experimental platform including three eye-tracking cameras and one front-view camera was built to collect driver's gaze information and the vehicle motion information. Secondly, driver’s gaze features and motion features of cut-in vehicles were selected and the braking intention identification performance of several decision tree-based ensemble learning algorithms was compared. Thirdly, the feature importance was analyzed by using SHAP (SHapley Additive exPlanations) values. This novel method of braking intention identification makes full use of in-vehicle camera sensors. The signal acquisition method is non-intrusive and can be applied to real-world driving.</div></div>

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An Improved AEB Control System Based on Risk Factors with Consideration of Vehicle Stability

Guo,

Zhang

et al. 2024

SAE Technical Paper Series

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<div class="section abstract"><div class="htmlview paragraph">Intelligent vehicle-to-everything connectivity is an important development trend in the automotive industry. Among various active safety systems, Autonomous Emergency Braking (AEB) has garnered widespread attention due to its outstanding performance in reducing traffic accidents. AEB effectively avoids or mitigates vehicle collisions through automatic braking, making it a crucial technology in autonomous driving. However, the majority of current AEB safety models exhibit limitations in braking modes and fail to fully consider the overall vehicle stability during braking. To address these issues, this paper proposes an improved AEB control system based on a risk factor (AERF). The upper-level controller introduces the risk factor (RF) and proposes a multi-stage warning/braking control strategy based on preceding vehicle dynamic characteristics, while also calculating the desired acceleration. Furthermore, a lower-level PID-based controller is designed to track the desired acceleration and compute the corresponding brake master cylinder pressure and throttle opening using an established inverse longitudinal dynamics model. Furthermore, to address vehicle stability during braking, an Anti-lock Braking System (ABS) controller is integrated with the proposed AERF. The effectiveness of the AERF is validated through software co-simulation and hardware-in-the-loop testing (HIL). The results demonstrate that the AERF can maintain a safe braking distance within 2 meters under Euro NCAP standard conditions, with excellent tracking performance of the actual braking deceleration and an error rate below 5%, ensuring a high level of system safety.</div></div>

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Design and Hardware in the Loop Testing of AEB Controllers

Cited by 4 publications

References 17 publications

Hardware in the Loop Methodology for AEB system development

Hardware in the Loop Methodology for AEB system development

Identification of Driver’s Braking Intention in Cut-In Scenarios

An Improved AEB Control System Based on Risk Factors with Consideration of Vehicle Stability

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