Abstract: This paper addresses the issue that traditional autonomous emergency braking (AEB) systems for light-duty trucks cannot balance safety and comfort. A multi-sensor fusion-based hierarchical braking AEB control system is designed. Firstly, the vehicle information in the surrounding environment is obtained through the fusion of vision and millimeter-wave radar, and the accuracy of obstacle recognition is improved by improving the target recognition algorithm. Secondly, considering the driver's comfort during emergency braking and reducing the potential risk of vehicle and driver injury, an AEB hierarchical braking strategy based on different danger levels is established. Finally, the effectiveness of the algorithm is verified through real vehicle tests on a FAW Jiefang Hu6G light-duty truck. The test results show that the designed AEB system can timely remind the driver of the collision risk and effectively avoid the occurrence of collision risks through hierarchical braking when the driver does not respond in time, reducing the harm to the driver

Key words: light-duty trucks; autonomous emergency braking; multi-sensor fusion; graded braking

摘要： 针对轻型载货车传统自动紧急制动（AEB）无法兼容安全性与舒适性的问题，设计了 一种基于多传感器融合的分级 AEB 控制系统。首先，基于视觉与毫米波雷达融合获取周围环 境车辆信息，并且通过改进目标识别算法提高障碍物识别准度；其次，考虑紧急制动时驾驶 员舒适度，降低车辆及驾驶员受伤的潜在风险，建立了基于不同危险等级的 AEB 分级制动策 略；最后，以一汽解放虎 6G 轻型载货车为试验平台建立实车试验验证算法有效性。试验结果 表明，文章设计的 AEB 系统能够及时提醒驾驶员碰撞风险，并在驾驶员未及时反应时通过分 级制动有效避免碰撞风险的发生，减少对驾驶员的伤害。

关键词: 轻型载货车；自动紧急制动；多传感器融合；分级制动策略