Model-Based Approach to Resource-Efficient Object Fusion for an Autonomous Braking System

As of 1 November 2013, EU regulation requires all new types of heavy trucks and buses to be fitted with an advanced emergency braking system (AEBS). This presentation illustrates the journey to develop object fusion between radar and camera and algorithms for emergency braking.

In September 2013 Scania rolled out an AEBS that is capable of fully preventing rear-end collisions with moving or stationary vehicles in speeds up to 100 km/h. The system first alarms the driver with a collision warning. If the driver takes no action, the system initiates a relatively harsh warning brake. If there is still no action from the driver, the system initiates a full emergency brake to prevent or mitigate a collision. Scania designed both the emergency braking algorithms and an object fusion between a forward-looking camera (mounted behind the windshield) and a radar sensor (mounted in the front bumper) using MATLAB^® and Simulink^® and generated code using Embedded Coder™. This presentation provides an overview of the solutions, development, and compromises to develop the object fusion.