隨著行車安全日益受到重視，如何減少交通意外的發生，並保障駕駛與乘客的安全，已成為重要的議題。近年來自主緊急煞車系統(Autonomous Emergency Barking System, AEBS)受到相當大的重視，且已成為新車評比項目之一，因此各大車廠均發展自身之自主緊急煞車系統。如何改善系統的性能、適用範圍、與增進強健性，是發展本系統的關鍵議題。
在發展自主緊急煞車控制系統的過程中，可以發現影響煞車結果至為關鍵的環境變因之一為路面之摩擦力。若使用同樣的煞車控制策略，即使在乾燥的路面能成功煞停，在濕滑的路面上仍可能不及煞停而撞上障礙物；若使用了較保守的煞車控制策略使之能在低摩擦力的路面上煞停，卻可能會導致過早的煞車而不見得適用高摩擦力之路面。因此，欲改善本系統之效能與適用範圍，估測摩擦力便成為至關重要的技術。
但由於現階段尚無可以直接精確量測路面摩擦係數之感測器，只能由相關之參數推測出摩擦力，所以必須發展出一推測摩擦力之流程，以供改進自主緊急煞車系統表現之參考。本論文在無需額外增加感測器的情況下，利用車輛本身之車身動態感測器取得車輛對煞車時包含加速度、傾角等各項反應，使用車輛動態模型，以推得路面之摩擦係數。取得路面狀況之後即可用於改善自主緊急煞車系統之用。論文最後呈現不同情境下，導入摩擦力估測技術前後之煞車結果。

The objective of the research is to improve the performance and application scope of the Autonomous Emergency Braking System (AEBS). To accomplish this purpose, we apply the tire/road friction estimation technique to adjust the ermergency braking control strategy. With this method, the system can meet the AEB requirement with higher score. The results imply that the AEBS with tire/road friction estimation on slippery road can improve the performance.

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