0.0 0.2 0.4 0.6 0.8 1.00.00.20.40.60.81.0Time (s)
(a) Simulation viewer0 2 4 6 8 10 12 14 16 1802468101214161820TTCx
Time (s)Vehicle 2Vehicle 1(c) TTCx0 2 4 6 8 10 12 14 16 180.0Ax (g)Time (s)−1.0−0.8−0.6−0.4−0.2(d) AEB system command024681012141618050100150200250300350400Relative distance (m)
Time (s)
Vehicle 1
Vehicle 2Vehicle 3(e) Relative distance0 2 4 6 8 10 12 14 16 1802468101214161820Relative speed (m/s)Time (s)
Vehicle 1
Vehicle 2Vehicle 3(f ) Relative speedCollision detection(b) Collision detection flagFigure 12: V2V communication-based AEB system.