Lab2_Automatic_Emergency_Braking

AEB(Automotic Emergency Braking)

Lecture Note / Our Code

Emergency braking based on the parameter ‘Time to collision’

$$TT{C}_i(t)=\frac{r_i(t)}{[-{\dot{r}}_i(t){]}_{+}}$$

TTC is defined as the time it would take for the ego-vehicle and on object to intercept one another given that they each maintain their current heading and velocity.

$$\begin{array}{rl}{r}_i(t)& :\text{Range between vehicle and object}\\ {\dot{r}}_i& =v_x\cos ({\theta }_i)\end{array}$$

- Next - Lab3_Wall_Following

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Reference

F1Tenth_Lab2_Template