Modeling of Autonomous Emergency Braking System with Minimum Jerk

Vehicle safety systems have been developed to reduce the numbers of accidents and fatalities. An autonomous emergency braking system is a vehicle safety system that automatically applies braking when a collision is imminent. This paper presents an autonomous emergency braking system with minimum jerk for improved occupant comfort. The tire-road friction constraint is considered in the generation of the minimum jerk trajectory. For this trajectory, the stopping distance is derived analytically. A simple controller was developed to track the desired velocity profile. The effectiveness of this controller was verified by computer simulations using a nonlinear vehicle dynamics model for dry and wet road surfaces.