Research And Implementation Of Self-driving Vehicles' AEB System Based On Millimeter Wave Radar

Autonomous Emergency Braking(AEB)is the basic safety module for self-driving vehicles traveling in complex road traffic environment.It is a research hotspot in the field of intelligent automobile at home and abroad.The thesis focuses on a number of key technologies in AEB systems such as effective target recognition,motion state estimation,safety distance modeling and emergency braking strategy,and develops an AEB system of self-driving vehicles based on millimeter wave radar.The main contents include:Based on the comprehensive analysis of related research at home and abroad,an overall scheme of AEB system of self-driving vehicles based on millimeter wave radar is designed.The requirement analysis,overall structure design,research route formulation and workflow design of AEB system for self-driving vehicles are completed.Research on effective target recognition and target tracking technology based on millimeter wave radar.Firstly,the effective target primary selection is carried out according to the principle of the nearest lane distance,then the fourth-order Kalman filtering is used to test the effective target consistency.Finally,the effective target life cycle algorithm is introduced to make the target decision.On this basis,the Interacting Multiple Model based on CV/CA is used to model and track the motion state of the target vehicle,so as to accurately estimate the motion state of the preceding vehicle.Set different working conditions to simulate and analyze the tracking effect of the algorithm.Self-driving vehicles' safety distance model was established in various situations.Firstly,the braking process of self-driving vehicles under horizontal road conditions is analyzed,and the braking distance model and safety distance model of self-driving vehicles under horizontal road conditions are established.Then,considering the factors such as slope and road adhesion coefficient,based on the five different motion states of the front vehicle,the improved braking distance model and the safe distance model of the self-driving vehicles are established.Then simulated and analyzed the main factors affecting the safety distance.A fan-shaped grading warning strategy is proposed.The hazard level is judgedaccording to the safety distance.Sub-zone deceleration braking at the current optimum deceleration,so that the self-driving vehicle and the target vehicle remain safe and do not collide,and the occupant comfort is improved.A self-driving vehicle emergency braking system simulation platform and a real vehicle experimental platform were built.The simulation and real vehicle experimental conditions are designed based on the different motion states of the preceding vehicle,and the overall functions and the research results of key technologies of the self-driving vehicles' AEB system based on millimeter wave radar are verified.The test results show that the AEB system designed and developed in this paper has good environmental adaptability and driving assistance performance,which can effectively improve the comfort of passengers.The research results of this paper have certain theoretical significance and reference value for the research of active safety technology of self-driving vehicles.