Motion Planning and Tracking Trajectory of an Autonomous Emergency Braking Pedestrian (AEB-P) System Based on Different Brake Pad Friction Coefficients on Dry Road Surface

IF 1 Q4 ENGINEERING, MECHANICAL

International Journal of Automotive and Mechanical Engineering Pub Date : 2022-10-11 DOI:10.15282/ijame.19.3.2022.12.0772

A. Zulkifli, M. H. Peeie, M. A. Zakaria, M. I. Ishak, M.A. Shahrom, B. Kujunni

{"title":"Motion Planning and Tracking Trajectory of an Autonomous Emergency Braking Pedestrian (AEB-P) System Based on Different Brake Pad Friction Coefficients on Dry Road Surface","authors":"A. Zulkifli, M. H. Peeie, M. A. Zakaria, M. I. Ishak, M.A. Shahrom, B. Kujunni","doi":"10.15282/ijame.19.3.2022.12.0772","DOIUrl":null,"url":null,"abstract":"Accidents between vehicles and pedestrians usually occur when a pedestrian is crossing the road. An Autonomous Emergency Braking Pedestrian (AEB-P) is introduced to prevent collisions between vehicles and pedestrians. However, the performance of an AEB-P will be reduced when the brake pad is worn out on a dry road. In this study, the motion planning, namely Vehicle Conditional Artificial Potential Field (VC-APF), including a warning signal and emergency brake phase that generate the vehicle’s deceleration, is proposed to analyze the effect of brake pad on the AEB-P performance. Then, the vehicle’s deceleration is tracked by the tracking trajectory, where the PI controller is adapted to provide the optimum braking force. The function of PI control is to ensure the vehicle’s deceleration is approaching the desired deceleration. The performance of the proposed method has been simulated on the dry road surface with different brake pad coefficients; 0.4, 0.35, and 0.24. The simulation results show that the vehicle manages to stop colliding with a pedestrian on the dry road surface at the minimum safety distance range of 2.7-2.9 meters.","PeriodicalId":13935,"journal":{"name":"International Journal of Automotive and Mechanical Engineering","volume":null,"pages":null},"PeriodicalIF":1.0000,"publicationDate":"2022-10-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Automotive and Mechanical Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.15282/ijame.19.3.2022.12.0772","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}

引用次数: 1

Abstract

Accidents between vehicles and pedestrians usually occur when a pedestrian is crossing the road. An Autonomous Emergency Braking Pedestrian (AEB-P) is introduced to prevent collisions between vehicles and pedestrians. However, the performance of an AEB-P will be reduced when the brake pad is worn out on a dry road. In this study, the motion planning, namely Vehicle Conditional Artificial Potential Field (VC-APF), including a warning signal and emergency brake phase that generate the vehicle’s deceleration, is proposed to analyze the effect of brake pad on the AEB-P performance. Then, the vehicle’s deceleration is tracked by the tracking trajectory, where the PI controller is adapted to provide the optimum braking force. The function of PI control is to ensure the vehicle’s deceleration is approaching the desired deceleration. The performance of the proposed method has been simulated on the dry road surface with different brake pad coefficients; 0.4, 0.35, and 0.24. The simulation results show that the vehicle manages to stop colliding with a pedestrian on the dry road surface at the minimum safety distance range of 2.7-2.9 meters.

查看原文本刊更多论文

基于不同制动垫摩擦系数的自动紧急制动行人(AEB-P)系统在干路面上的运动规划与跟踪轨迹

车辆和行人之间的事故通常发生在行人过马路的时候。引入自动紧急制动行人系统(AEB-P)，防止车辆与行人发生碰撞。然而，AEB-P的性能会降低，当刹车片磨损在干燥的道路上。本研究提出运动规划，即车辆条件人工势场(Vehicle Conditional Artificial Potential Field, VC-APF)，包括预警信号和产生车辆减速的紧急制动相位，以分析刹车片对AEB-P性能的影响。然后，通过跟踪轨迹跟踪车辆的减速情况，并调整PI控制器以提供最优制动力。PI控制的作用是保证车辆的减速度接近期望的减速度。在不同刹车片系数的干路面上对该方法进行了仿真;0.4, 0.35和0.24。仿真结果表明，车辆在干燥路面上能够在2.7 ~ 2.9米的最小安全距离范围内停止与行人的碰撞。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

International Journal of Automotive and Mechanical Engineering ENGINEERING, MECHANICAL-

CiteScore

2.40

自引率

10.00%

发文量

审稿时长

20 weeks

期刊介绍： The IJAME provides the forum for high-quality research communications and addresses all aspects of original experimental information based on theory and their applications. This journal welcomes all contributions from those who wish to report on new developments in automotive and mechanical engineering fields within the following scopes. -Engine/Emission Technology Automobile Body and Safety- Vehicle Dynamics- Automotive Electronics- Alternative Energy- Energy Conversion- Fuels and Lubricants - Combustion and Reacting Flows- New and Renewable Energy Technologies- Automotive Electrical Systems- Automotive Materials- Automotive Transmission- Automotive Pollution and Control- Vehicle Maintenance- Intelligent Vehicle/Transportation Systems- Fuel Cell, Hybrid, Electrical Vehicle and Other Fields of Automotive Engineering- Engineering Management /TQM- Heat and Mass Transfer- Fluid and Thermal Engineering- CAE/FEA/CAD/CFD- Engineering Mechanics- Modeling and Simulation- Metallurgy/ Materials Engineering- Applied Mechanics- Thermodynamics- Agricultural Machinery and Equipment- Mechatronics- Automatic Control- Multidisciplinary design and optimization - Fluid Mechanics and Dynamics- Thermal-Fluids Machinery- Experimental and Computational Mechanics - Measurement and Instrumentation- HVAC- Manufacturing Systems- Materials Processing- Noise and Vibration- Composite and Polymer Materials- Biomechanical Engineering- Fatigue and Fracture Mechanics- Machine Components design- Gas Turbine- Power Plant Engineering- Artificial Intelligent/Neural Network- Robotic Systems- Solar Energy- Powder Metallurgy and Metal Ceramics- Discrete Systems- Non-linear Analysis- Structural Analysis- Tribology- Engineering Materials- Mechanical Systems and Technology- Pneumatic and Hydraulic Systems - Failure Analysis- Any other related topics.