Pedestrian Emergency Braking in Ten Weeks

TL;DR

This paper presents a rapid ten-week development and testing of a pedestrian emergency braking system for autonomous vehicles using a PD control approach, demonstrating safety in real scenarios.

Contribution

It introduces a quick, practical design and implementation of a pedestrian emergency braking system with a PD control method for autonomous vehicles.

Findings

Successful implementation of pedestrian emergency braking in ten weeks

Demonstrated safety in pedestrian emergency scenarios

Proposed lateral control for future lane following tests

Abstract

In the last decade, research in the field of autonomous vehicles has grown immensely, and there is a wealth of information available for researchers to rapidly establish an autonomous vehicle platform for basic maneuvers. In this paper, we design, implement, and test, in ten weeks, a PD approach to longitudinal control for pedestrian emergency braking. We also propose a lateral controller with a similar design for future testing in lane following. Using widely available tools, we demonstrate the safety of the vehicle in pedestrian emergency braking scenarios.