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Modeling of Autonomous Emergency Braking System with Minimum Jerk
A. S. P. Singh,O. Nishihara 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
Vehicle safety systems have been developed to reduce the numbers of accidents and fatalities. An autonomous emergency braking system is a vehicle safety system that automatically applies braking when a collision is imminent. This paper presents an autonomous emergency braking system with minimum jerk for improved occupant comfort. The tire-road friction constraint is considered in the generation of the minimum jerk trajectory. For this trajectory, the stopping distance is derived analytically. A simple controller was developed to track the desired velocity profile. The effectiveness of this controller was verified by computer simulations using a nonlinear vehicle dynamics model for dry and wet road surfaces.