Planning the Emergency Collision Avoidance Strategy Based on Personal Zones for Safe Human-Machine Interaction in Smart Cyber-Physical System

Algorithm 1

Switching mechanism of stop profile generation.

(i)	Input:
(ii)	Output:
(iii)	while Human hiis detected do
(1)	Estimate relative distance
(2)	Compute
(3)	if
(4)	Activate AS-curve top strategy;
(5)	else if
(6)	Activate S-curve top strategy;
(7)	else if
(8)	Activate Trapezoidal top strategy;