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Autonomous emergency braking system (AEBS) is important active safety technology, which aims to avoid collision or reduce collisions by automatic braking, has become a hot research topic in recent years. However, Modeling and simulation research on big bus is relatively limited, not systematic introduction. Three typical braking scenarios are defined and the safety situations are assessed by comparing the current distance between the host vehicle and the leading vehicle with the critical braking distance. To reflect the nonlinear time-varying characteristics and control effect of the longitudinal dynamics, the vehicle longitudinal dynamics model is established in TruckSim. Then the braking controller with the structure of upper and lower layers is designed based on the single neuron PID control when confronting emergency braking conditions. Co-simulations utilizing TruckSim and Simulink are finally carried out on a TruckSim vehicle model to explore the effectiveness of the proposed controller of AEBS. Results display that the designed controller has a good response in preventing colliding with the leading vehicle.

Modeling and Simulation of Big Bus Equipped with Autonomous Emergency Braking System