  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.
