###### Abstract
Hence, with the rapid development of Advanced Driver Assistance Systems (ADAS) [34; 35; 36], the next step for the Intelligent Vehicles and Transportation Systems points toward the research and application of fully autonomous vehicles [37; 38; 39; 40]. Of course, the Advanced Emergency Braking System (AEBS) is drawing research attention as the fastest-growing and most mature product that can warn drivers or control the vehicle when there is a potential collision risk using radar or camera information [41; 42; 43]. This is different from Collision Warning (FCW), for that FCW only warns about potential collision risks with obstacles or a moving vehicle in front of the vehicle [44; 45; 46]. In the field of AEBS, Europe, the United States, and Japan have achieved rapid developments in terms of research, legislation, standards, etc. [PERSON] and [PERSON] mainly focused on dangerous conditions detection and warning, without any intervention in the vehicle's control system [47]. [PERSON] et al. studied the maximum tire adhesion coefficient's detection for the implementation of AEB, ignoring vehicle handling comfort [48]. [PERSON] et al. studied the AEB and ACC algorithm with an optimized path estimation approach with respect to multi-sensor information, which coordinated the ACC and AEB system quite well [29; 49]. [PERSON] et al. studied the AEBS development and estimation approach of multi-door commercial bus [50]. [PERSON] et al. applied sliding mode control to AEBS [51]. [PERSON] et al. studied the AEBS control strategy, design, and comprehensive assessment method for a commercial vehicle with a logical analytical approach under constant speed [52]. In conclusion, the literature [45] warns the driver without actually intervening, [PERSON] et al. on a single control function, the lack of optimization of braking and vehicle handling comfort [48], and [PERSON] et al. [49] does some integration without system optimization in accordance of driving surroundings and vehicle system dynamics property. [PERSON]'s s target vehicle or collision objects were assumed to be moving at a constant speed; the vehicle handling comfort was outside of the scope and the whole system was not dynamically optimized. To optimize the active safety and vehicle handling comfort, this paper designs an AEB control strategy with integrated optimization based on the nonlinear model predictive control theory. A hierarchy control structure is designed to coordinate and decouple the driver-vehicle-surroundingsinteraction system as a decision-making system of AEBS. The upper layer deals with the global integrated optimization and the force allocation using the proposed multi-performance evaluation function, which is built based on the interaction between driving surroundings and vehicle state. The bottom layer allocates realized forces using an Electronic Braking System. Then a multi-objective optimization controller is designed to ensure the AEBS works well. In addition, an Electronic Brake System (EBS) controller, which is one of the Brake-by-Wire systems in lower loop, is designed to track the control target of AEBS in the upper level quickly and precisely based on the non-singularity fast terminal sling mode control theory. Finally, simulations are carried out to verify the effectiveness and functionality of the proposed control system.