An Automatic Emergency Braking Model considering Driver’s Intention Recognition of the Front Vehicle

Table 2

AEB model comparison test conditions.

Scenario	Car to Car Rear moving (CCRm)		Car to Car Rear braking (CCRb)
Proposed AEB
Traditional AEB
Object	Following vehicle	Front vehicle	Both vehicles	Front vehicle
Initial parameter setting	(1) 30 km/h	20 km/h (UDI)	(1) 10 km/h	(1) Testers braking with NBI intention; (2) Testers braking with EBI
	(2) 35 km/h
	(3) 40 km/h
	(4) 45 km/h		(2) 20 km/h
	(5) 50 km/h		(3) 30 km/h
	(6) 55 km/h		(4) 40 km/h
	(7) 60 km/h		(5) 50 km/h
	(8) 65 km/h		(6) 60 km/h
	(9) 70 km/h		(7) 70 km/h
	(10) 75 km/h		(8) 80 km/h
	(11) 80 km/h		(9) 90 km/h
	(12) 85 km/h
	(13) 90 km/h

UDI: uniform driving intention; NBI: normal braking intention; EBI: emergency braking intention.