# A Rapid Verification System for Automatic Emergency Braking Control Algorithm of Passenger Car
## 1 Introduction
[16] developed a set of pedestrian AEB test equipment according to the C-NCAP test requirement, and used the equipment to evaluate the AEB performance of the test vehicle. However, real vehicle testing is time-consuming and expensive. The hardware-in-the-loop (HIL) technique can embed the real braking system into the software simulation platform through the I/O interfaces, providing a rapid verification platform for the AEB control algorithm, thus reducing the test cost [17]. [PERSON] et al. [18] proposed a hydraulic brake-by-wire system, and verified the brake force distribution strategy and regenerative braking control strategy through simulation and HIL testing. [PERSON] et al. [19] tested the proposed lateral stability coordinated collision avoidance control system (LSCACS) through HIL testing, and the results showed that the LSCACS is better than that of the traditional AEB system. [PERSON] et al. [20] proposed an integrated coordinated control method for vehicle AFS and ABS, and proposed a solution method for the control model. A HIL test was carried out for the control method on low-adhesion and off-road roads. The above researches aimed at HIL verification of braking energy management and braking performance optimization strategies. Based on the research results in ADAS, ACC, and AEB, some researchers used HIL testing to verify the control algorithms. [PERSON]. [21] and [PERSON]. [22] designed a steerable chassis dynamometer test bench and tested the lane-keeping assistant, adaptive cruise control, and automatic emergency braking functions of the real vehicle. [PERSON] et al. [23] proposed a hierarchical ACC control strategy for the city bus, and the HIL test showed that the control strategy can improve the tracking ability, driving comfort, and energy economy of the city bus. [PERSON] et al. [24] proposed an AEB system development method combining road test, indoor laboratory test, HIL testing, and simulation. However, the existing HIL system is mainly aimed at the development of the AEB control algorithm for hydraulic braking vehicles. It cannot be directly applied to passenger cars equipped with a pneumatic braking system. Due to the time-delay characteristics of pneumatic braking, the verification of the AEB control algorithm should meet the high requirements for rapid response to braking pressure. Therefore, it is urgent to develop a test system to shorten the response time of braking pressure by quickly adjusting the pressure of the pneumatic braking system, to more accurately simulate the emergency braking conditions of real vehicles, and quickly verify the effectiveness of the passenger car AEB control algorithm. In this paper, our contribution is to establish a rapid verification system for the development and verification of passenger car AEB control algorithm, which has software-in-the-loop (SIL) and HIL test functions. The characteristics of the proposed verification system are analyzed through an AEB hierarchical control strategy case, e.g., the rapidity of the test and the characteristics of SIL and HIL methods. The application scenarios of SIL and HIL methods are summarized.