# A Rapid Verification System for Automatic Emergency Braking Control Algorithm of Passenger Car
## 3 Verification System Establishment
### Configuration of Passenger Car Simulation Parameters  
The structure of the passenger car pneumatic braking system was designed, and its dynamic pressure regulating performance was verified through the pneumatic braking bench. Taking the AEB system of a two-axle passenger car as the test target, TruckMaker was adopted to configure parameters of the virtual vehicle in the verification system, such as mass, tire radius, and inertia of each axle, which is shown in Table 4.  
The radar sensor judges the relative position between VUT and VT by sending and receiving pulse signals. When VT enters the radar detection range of VUT, VUT receives the radar signals and automatically identifies the type of detected objects, providing an effective judgment basis for passenger car AEB control. The detection principle of the radar sensor is shown in Figure 5.  
\begin{table}
\begin{tabular}{c c c c} \hline
**Parameters** & **Value** & **Parameters** & **Value** \\ \hline Overall mass/kg & 8000 & Distance from front axle to centroid/m & 2.1 \\ Body mass/kg & 7330 & Distance from rear axle to centroid/m & 1.8 \\ Aerodynamic area/m\({}^{2}\) & 7.981 & Inertia of X axis/(kg\(\cdot\)m\({}^{2}\)) & 5000 \\ Tire radius/m & 0.558 & Inertia of Y axis/(kg\(\cdot\)m\({}^{2}\)) & 5000 \\ Height of centroid/m & 1.068 & Inertia of Z axis/(kg\(\cdot\)m\({}^{2}\)) & 10,000 \\ \hline \end{tabular}
\end{table}
Table 4: Main parameters of virtual vehicle.  
Figure 4: Dynamic pressure regulation performance of the pneumatic braking system.  
When there are obstacles within the detection range of the radar sensor, the obstacles are classified and marked according to the relative distance. The relative distance, relative angle, length, width, and height of obstacles are saved in matrix form. The spatial position of the object detected by the passenger car radar sensor can be expressed as:  
\[\begin{bmatrix}X\\ Y\\ Z\end{bmatrix}=d_{rel}\begin{bmatrix}\sin\theta_{1}\\ \cos\theta_{1}\\ 0\end{bmatrix}+\begin{bmatrix}0&0&0\\ 0&0&0\\ 0&0&1\end{bmatrix}\begin{bmatrix}w\\ l\\ h\end{bmatrix} \tag{1}\]  
where \(X\), \(Y\), and \(Z\) are the space coordinate values of objects; \(d_{rel}\) is the distance between VUT and objects; \(\theta_{1}\) is the angle between VUT and objects (bearing); \(w\), \(l\), and \(h\) are the width, length, and height of the detected objects, respectively.  
When only longitudinal motion is considered, the bearing \(\theta_{1}\) is always \(0^{\circ}\), which can simplify the object's spatial position as follows:  
\[\begin{bmatrix}X\\ Y\\ Z\end{bmatrix}=\begin{bmatrix}0\\ d_{rel}\\ h\end{bmatrix} \tag{2}\]  
The radar sensor is usually mounted at the front of the vehicle. Based on the measuring performance of a certain type of millimeter wave radar, the radar sensor parameters were configured in TruckMaker. In the far range mode, the position (\(x,y,z\)) of the sensor was set to (7.8 m, 0 m, 1 m), the field of view (\(h\), \(v\)) was set to (\(9^{\circ}\), \(9^{\circ}\)), the longitudinal range was set to 200 m, and the update rate was set to 60 Hz. In the near range mode, the field of view (\(h\), \(v\)) of the sensor was set to (\(45^{\circ}\), \(45^{\circ}\)), the longitudinal range was set to 70 m, and the other parameters were the same as those in the far range mode.