Lab 2: Automatic 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 an object to intercept one another given that they each maintain their current heading and velocity.

$$\begin{array}{rl}{r}_i(t)& :\text{Range between vehicle and object}\\ {\dot{r}}_i& =-v_x\cos ({\theta }_i)\text{(range rate, negative when approaching)}\end{array}$$

See also

• Lab 3: Wall Following

References

• F1Tenth_Lab2_Template