# Quantitative Testing and Analysis of Non-Standard AEB Scenarios Extracted from Corner Cases
## 3 Simulation Scenario Construction and Testing
### Scenario Test and Analysis
#### 3.2.1 A Scenario Construction Test and Analysis  
According to Chinese highway standards [29], the radius of a road is 30 m, and the width of a single lane is 3.75 m. We will construct a one-way two-lane road in PRESCAN, as shown in the Figure 7, with R = 33.75 m and r = 30 m. We will divide the 90-degree curve into five segments, with each segment having a curvature of 18 degrees, and set collision points 1, 2, 3, 4, and 5. Concerning the CN-cap testing standard, we will design the experiment and divide the test cases for this scenario into three categories: stationary lead vehicle, slow-moving lead vehicle, and decelerating lead vehicle. To quantitatively describe the performance boundaries of the AEB system in this scenario, we define the maximum ego vehicle speed at which no collision occurs as the collision boundary speed. We will construct test cases for each of the three lead vehicle scenarios: stationary, slow-moving, and decelerating. 1. Stationary lead vehicle:  
The lead vehicle will be placed at collision points 1 to 5, and the test vehicle will start from a distance of 200 m from the beginning of the curve to realistically simulate actual traffic scenarios. The test will be conducted at speeds increasing in increments of 5 km/h from 5 km/h to 100 km/h. The collision boundary speed when there is no collision at  
Figure 7: A scene diagram. (The 6 red points in the figure a are the collision points set respectively). collision point 0 will be used as the reference data for comparison. The experimental results are shown in the table below (Table 5, Figure 8):  
As shown in Table 5, the experimental results indicate that the AEB system's boundary speed is higher at collision point 0 while it is lower at the collision points on the curved road, with the lowest value at collision point 3 at 35 km/h. 2. Slow-moving lead vehicle:  
According to Chinese regulations, the speed limit for curved sections of urban roads is 30 km/h. Thus, we will set the lead vehicle's speed to 10, 20, and 30 km/h, with the starting point at 0. Five collision points will be set at positions 1 to 5 relative to the lead vehicle, and the speed range of the test vehicle will be set to 10-80 km/h. The experimental results are shown in the table below (Table 6, Figure 9):  
Figure 8: A Scene-CCRs (In scene A, when the front vehicle is stationary, the boundary collision velocity is measured at the collision point respectively). \begin{table}
\begin{tabular}{c c} \hline \hline
**Collision Point** & **Boundary Impact Velocity (km/h)** \\ \hline
0 & 95 \\
1 & 40 \\
2 & 40 \\
3 & 35 \\
4 & 40 \\
5 & 40 \\ \hline \hline \end{tabular}
\end{table} 
Table 5: Static scene test results of vehicle in front of curve. 3. Decelerating lead vehicle:  
In this scenario, the conditions will be the same as the slow-moving lead vehicle scenario, except that the lead vehicle's speed will be set to 0 at all collision points. The initial speeds of the lead vehicle will still be set to 10 km/h, 20 km/h, and 30 km/h, respectively, for testing. The experimental results are shown in the table below (Table 7, Figure 10): \begin{table}
\begin{tabular}{c c c} \hline \hline
**Ahead Speed** & **Collision Point** & **Boundary Impact Velocity (km/h)** \\ \hline \multirow{8}{*}{10} & 1 & / \\  & 2 & 50 \\  & 3 & 50 \\  & 4 & 45 \\  & 5 & 50 \\  & 1 & / \\  & 5 & 50 \\  & 1 & / \\  & 2 & / \\  & 3 & 75 \\  & 4 & 70 \\  & 5 & 75 \\ \hline \end{tabular} Note: “/” indicates that no collision occurred within the set speed range.  
\end{table} 
Table 6: Test results of slow driving in front of curve. Figure 9: A Scene-CCRm (In scenario A, when the front vehicle is driving slowly at 10 km/h, 20 km/h, and 30 km/h, the boundary collision speed is measured at the collision point, respectively). The statistical representation of test results for scenario A is shown in Figure 11, for the stationary lead vehicle scenario, collision point 0 is located at the end of the straight road. When driving on a straight road, the AEB system's boundary collision speed is 95 km/h.