AEB Target Selection Method Based on Sensor Fusion

Guan Yingzhou, Wang Yinan, Lü Ying

China FAW Group Co ., Ltd.

Abstract: This paper proposes an AEB target selection method based on sensor fusion which includes three modules: perception-data-fusion, trajectory-prediction and AEB-target-filtering three modules.Perception-data-fusion includes three sub modules: time-space-synchronization, data-association and target-tracking.Trajectory-prediction includes three sub modules: signal-filtering, mode-selection and trajectory-generation.AEB-target-filtering includes five sub modules: coordinate-transformation, collision-judgment, collision-time-calculation, initial-target-selection and target-filter.This paper also designs an offline testing method and tool.The result of offline test aiming at typical AEB application scenarios shows that the proposed method has high accuracy and robustness which can adapt to different driving conditions.

Key words: sensor fusion, AEB, target selection +Ph9hpUHI5T6oyY3LNvAXUgft4X7ERVpLrjt6je0nbT7CejYe5H7rf5ou8i2kLei