Abstract: Autonomous driving vehicles need to have the ability to automatically complete the braking action, the process of precision and comfort requirements are very high, is an important index to reflect the safety of the vehicles. In this paper, the autonomous emergency braking system of the vehicles is verified based on two braking strategies by analyzing the working characteristics of the vehicle air brake system. The results show that the point-brake baking strategy can not only improve the braking accuracy, but also improve the comfort to a certain extent, improve the safety of the vehicle and the driver and passenger, and help to further accelerate the commercialization of automatic driving.

Key words: Automatic driving; Control logic; Point-brake strategy; Braking deceleration accuracy; Comfort

摘要： 自动驾驶车辆需具备自动完成制动动作的能力，其过程对精度及舒适性要求极高，是 反映整车安全性的重要指标。文章通过分析整车气制动系统的工作特性，基于两种制动策略， 对整车自动紧急制动系统进行验证。结果表明，点刹式制动策略在满足自动驾驶的同时，不 仅可以提升制动精度，而且在一定程度上改善舒适性，提高整车及驾乘人员的安全性，有助 于进一步加快自动驾驶的商业化落地。

关键词: 自动驾驶；控制逻辑；点刹式策略；制动减速度精度；舒适性