A petri net based model for AEB systems considering vehicle and pedestrian/cyclist in a certain area

Abstract

For AEB performance testing, surrogates and testing systems have been developed by the Transportation Active Safety Institute (TASI). A set of tests, both for performance of vehicle equipped with AEB systems and for harmonization of surrogates, have been conducted under different scenarios with different variables which include cyclist speed, vehicle speed, cyclist moving directions, and so on.

There are several braking patterns described in this thesis, which provide the possibility to control the distance of an emergency braking. With different braking distance and steering angle during the emergency braking, choosing the final place of a vehicle becomes possible.

This thesis considers vehicle and pedestrian/cyclist together to avoid a crash in a certain area rather than predicting the collision point. Petri net models were built for both vehicle and pedestrian/cyclist in potential collision area and crossing road scenarios. Then, controllers were designed for Petri net models and all possible states were calculated.