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 16.4 1区化学 Q1 CHEMISTRY, MULTIDISCIPLINARY

Accounts of Chemical Research 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

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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。

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来源期刊

Accounts of Chemical Research 化学-化学综合

CiteScore

31.40

自引率

1.10%

发文量

312

审稿时长

2 months

期刊介绍： Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance. Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.