Advanced Mathematics and Numerical Modeling of IoT

Camera

sensor

Positioning

system

Wireless

communication module

Kalman filter

In-vehicle

sensor

Lane information

Position, heading

Velocity

Position,

heading,

and velocity

Collision detection

system

Target Vehicle 1 Target Vehicle 2 Target Vehicle 3

Ego vehicle

Display

warning

vehicle

Estimated position

Heading,

velocity, and

Collision

avoidance

system

(AEB system)

···

···

Figure 4: Block diagram of V2V communication-based AEB system.

Direction of ego vehicle

Quadrant 1

quadrant 3 quadrant 2

Quadrant 4 forward left

Rear right Forward right

rear left Vehicle 1

Ego vehicle

Vehicle 2

Relative distance 1

+180∘relative angle

−180∘relative angle

(xego,yego) 휃 1

Relative휃 1

(x 1 ,y 1 )

x 1

x 2

−90∘relative angle

90 ∘relative angle

0 ∘relative angle

휃 2

(x 2 ,y 2 )

ego’s lateral

ego’s longitudinal

x-axis of

y-axis of

Figure 5: Principle of collision detection system.

2.2. AEB System.AEBisanactivesafetysystemthatmeasures
the degree of risk between a user vehicle and a forward vehicle
using vehicle-installed environment recognition sensors such
as radars or cameras. It helps in preventing accidents through
automatic brake control in risky situations. In Europe, the
enforcement of rules concerning AEB systems from 2014 has
been initiated. In Europe, the rules concerning AEB systems
have come into effect since the beginning of 2014. In 2009, it
was proposed that an informal group, called the autonomous
emergency braking system (AEBS)/lane departure warning
system (LDWS) informal group, will be formed under the
Working Party on Brakes and Running Gear (GRRF), a sub-
sidiary body of a World Forum for Harmonization of Vehicle
(WP.29), in order to formulate AEBS/LDWS standards. Eco-
nomic Commission for Europe (ECE) regulations concerning
AEBSarebeingenactedundertheUnitedNationsEconomic
Commission for Europe (UNECE) [ 12 ].

Table1:AEBsystembrakingforce.

TTC (s) Braking force (g)

≤2.0 0.3

≤1.6 0.6

≤0.7 1.0

The AEB system described in this paper meets the

required performance specifications defined by the AEB

Group. The time of application of automatic braking force

by the AEB system was determined based on a collision risk

index, that is, time-to-collision (TTC) of the user vehicle and

aforwardvehicle.TTCcanbecalculatedusing( 1 ), which

isbasedontherelativespeedandrelativedistancebetween

theuservehicleandforwardvehicle.Table 1andFigure 2list

and show, respectively, the braking force of the AEB system