Performance of AEB System on a Slope Using an Extended Kalman Filter

Abstract

In this study, the performance of a slope Autonomous Emergency Braking (AEB) system that estimates the angle of inclination in a V2V-based vehicle was evaluated. Existing AEB systems do not take changes in the angle of inclination into account or they use a reference angle, which results in limited braking properties on a slope. To improve the braking properties of AEB systems on slopes, the angle of inclination must be estimated. We propose an AEB system that employs an extended Kalman filter, along with an in-vehicle sensor (ESC) combined with a bicycle model and linear tire model to estimate the angle of inclination. We conducted comparative analysis via simulations of the performance of the proposed AEB system with those of an AEB system that does not consider slope and another one that uses a reference angle of inclination at a variety of angles of inclination and velocities. The results obtained verify the utility of the proposed extended Kalman filter-based AEB system on slopes.