# Intelligent Momentary Assisted Control for Autonomous Emergency Braking

arXiv: https://arxiv.org/abs/2107.00972 · HTML: https://mlsanity.com/paper/2107.00972/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 2 Jul 2021.

## Built on by (most cited first, 1 of 1)

- [Dual-AEB: Synergizing Rule-Based and Multimodal Large Language Models for Effective Emergency Braking](https://mlsanity.com/paper/2410.08616/) (2024)

## Abstract (arXiv)

Development of control algorithms for enhancing performance in safety-critical systems such as the Autonomous Emergency Braking system (AEB) is an important issue in the emerging field of automated electric vehicles. In this study, we design a safety distance-based hierarchical AEB control system constituted of a high-level Rule-Based Supervisory control module, an intermediate-level switching algorithm and a low-level control module. The Rule Based supervisor determines the required deceleration command that is fed to the low-level control module via the switching algorithm. In the low-level, two wheel slip control algorithms were developed, a Robust Sliding Mode controller and a Gain-Scheduled Linear Quadratic Regulator. For the needs of this control design, a non-linear dynamic vehicle model was implemented whereas a constant tire-road friction coefficient was considered. The proposed control system was validated in Simulink, assuming a straight-line braking maneuver on a flat dry road. The simulation results demonstrated satisfactory emergency braking performance with full collision avoidance in both proposed control system combinations.