Modelling and Testing of Emergency Braking in Autonomous Vehicles

In this paper the autonomous emergency braking system (AEB) is implemented for autonomous and semiautonomous vehicles using the RADAR and the vision sensors with different angles of coverage present in the AEBTestBench in the ADAS toolkit in Matlab R2021b. Using this test bench we have simulated 5 different standard EURO NCAP AEB Test scenarios which are discussed in detail later in the paper. The conditions and the standards for these tests are in accordance with the established standards as per EURO NCAP and the simulation is correspondingly designed. The equations for the ego vehicle's time-to-collision(TTC), Forward Collision Warning (FCW) reaction time and the stopping time of the ego vehicle are mathematically modelled and their results are analysed for each of these 5 scenarios and any recurring errors are analysed and corrected, the results obtained allows us to test the efficiency of the AEB system.