Citation

Yang W, Zhang X, Lei Q, Cheng X. Sensors (Basel) 2019; 19(21): s19214671.

Affiliation

State Key laboratory of Mechanical Transmission, College of Automotive Engineering, Chongqing University, Chongqing 400044, China. cquchengxin@163.com.

Copyright

(Copyright © 2019, MDPI: Multidisciplinary Digital Publishing Institute)

DOI

10.3390/s19214671

PMID

31661814

Abstract

The AEB-P (Autonomous Emergency Braking Pedestrian) system has the functional requirements of avoiding the pedestrian collision and ensuring the pedestrian's life safety. By studying relevant theoretical systems, such as TTC (time to collision) and braking safety distance, an AEB-P warning model was established, and the traffic safety level and work area of the AEB-P warning system were defined. The upper-layer fuzzy neural network controller of the AEB-P system was designed, and the BP (backpropagation) neural network was trained by collected pedestrian longitudinal anti-collision braking operation data of experienced drivers. Also, the fuzzy neural network model was optimized by introducing the genetic algorithm. The lower-layer controller of the AEB-P system was designed based on the PID (proportional integral derivative controller) theory, which realizes the conversion of the expected speed reduction to the pressure of a vehicle braking pipeline. The relevant pedestrian test scenarios were set up based on the C-NCAP (China-new car assessment program) test standards. The CarSim and Simulink co-simulation model of the AEB-P system was established, and a multi-condition simulation analysis was performed. The results showed that the proposed control strategy was credible and reliable and could flexibly allocate early warning and braking time according to the change in actual working conditions, to reduce the occurrence of pedestrian collision accidents.

Language: en

Keywords

AEB-P system; CarSim and Simulink co-simulation; lower PID controller; upper fuzzy neural network controller; warning model