Motion Planning and Optimal Control of AEB System under Different Adhesion Coefficients Road

To reduce the incidence of rear-end accidents of vehicles under different road surfaces, the Automatic Emergency Braking (AEB) system under multiple road surfaces was conducted. First, the motion planning containing the warning signal phase and the emergency braking signal is proposed based on the vehicle condition artificial potential field method. Secondly, the fit and convergence speed of the particle swarm optimization PID (PSO-PID) controller is comparison of conventional PID controller, comparison of the results concluded that the PSO-PID maximum braking deceleration at the fit is high, faster convergence, there is better stability, can be achieved in the vehicle control system to achieve better deceleration effect. Finally, a joint simulation is performed using Carsim/Simulink on a low, medium and high adhesion coefficient road surface to test the validity of the control strategy. The test results indicate that using the control strategy proposed in this paper, the safe distance of parking is between 1.25-2.56 m, the stop time is in the range of 3.54-5.31 s, and the vehicle successfully stops and avoids collisions on three types of road surfaces mentioned above.