This paper proposes an improved autonomous emergency braking (AEB) algorithm intended for intelligent vehicle. Featuring a combination with the estimation of road adhesion coefficient, the proposed approach takes into account the performance of electronic hydraulic brake. In order for the accurate yet fast estimate of road ahead adhesion coefficient, the expectation maximization framework is applied depending on the reflectivity of ground extracted by multiple beams lidar in four major steps, which are the rough extraction of ground points based on 3σ criterion, the accurate extraction of ground points through principal component analysis (PCA), the main distribution characteristics of ground as extracted using the expectation maximum method (EM) and the estimation of road adhesion coefficient via joint probability. In order to describe the performance of EHB, the response characteristics, as well as the forward and adverse models of both braking pressure and acceleration are obtained. Then, with two typical roads including single homogeneous road and fragment pavement, the safe distance of improved AEB is modeled. To validate the algorithm developed in this paper, various tests have been conducted. According to the test results, the reflectivity of laser point cloud is effective in estimating the road adhesion coefficient. Moreover, considering the performance of EHB system, the improved AEB algorithm is deemed more consistent with the practicalities.
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