Autonomous Vehicle with Emergency Braking Algorithm Based on Multi-Sensor Fusion and Super Twisting Speed Controller

Abstract

The automobile revolution and growth in the number of cars produced several issues, and vehicle accidents remain one of the most serious road-related issues. Human mistakes and a failure to brake quickly are the main causes of accidents. There may be serious outcomes to driving when distracted. To address the aforementioned issues, an autonomous emergency braking system (AEBS) was developed. To support such an AEBS, scalable, reliable, secure, fault-tolerant, and interoperable technologies are required. An advanced emergency braking system (EBS) with sensor fusion is proposed in this paper that can autonomously identify a probable forward collision and activate the vehicle braking system to brake the vehicle to avoid or mitigate a collision. Additionally, it provides a non-linear speed controller that facilitates the AEBS to apply the brakes in an emergency. Sensor fusion using lidar, radar, and vision sensors makes the AEBS more efficient and more reliable to detect vehicles or obstacles and decreases the chance of collision to a minimum level. A MATLAB/Simulink environment was used for simulation experiments and the results demonstrated the stable operation of the AEBS to avoid forward collisions in the event of an error in the measurement of any one sensor while any vehicle is detected. The presented work establishes that the EBS sensor fusion unit is a highly reliable solution for detecting the leading vehicle at the proper time and the AEBS controller can apply the brake in the situation of forwarding obstacle detection.