0.0 0.2 0.4 0.6 0.8 1.0
0.0
0.2
0.4
0.6
0.8
1.0
Time (s)
(a) Simulation viewer
0 2 4 6 8 10 12 14 16 18
0
2
4
6
8
10
12
14
16
18
20
TTCx
Time (s)
Vehicle 2
Vehicle 1
(c) TTCx
0 2 4 6 8 10 12 14 16 18
0.0
Ax (g)
Time (s)
−1.0
−0.8
−0.6
−0.4
−0.2
(d) AEB system command
024681012141618
0
50
100
150
200
250
300
350
400
Relative distance (m)
Time (s)
Vehicle 1
Vehicle 2
Vehicle 3
(e) Relative distance
0 2 4 6 8 10 12 14 16 18
0
2
4
6
8
10
12
14
16
18
20
Relative speed (m/s)
Time (s)
Vehicle 1
Vehicle 2
Vehicle 3
(f ) Relative speed
Collision detection
(b) Collision detection flag
Figure 12: V2V communication-based AEB system.