Advanced Emergency Braking Controller Design for Pedestrian Protection Oriented Automotive Collision Avoidance System

Table 1

DUTIV intelligent vehicle parameters.

Symbol	Designation	Value
𝑓	rolling friction coefficient	0.014
𝑟	wheel rolling radius	0.3495/m
𝐼𝑤	wheel rotational inertia	1.6/kg·m^2
𝐼𝑧	moment of inertia around the z axis	3059/kg·m^2
𝑚	whole vehicle mass	1390/kg
𝐶𝐷	aerodynamic drag coefficient	0.32
𝑎	distance from front axle to vehicle mass center	1.463/m
𝑏	distance from the rear axle to the mass center	1.047/m
𝐻𝑔	height of the mass center of the vehicle	0.58/m
𝐵𝑓	front wheel base	1.524/m
𝐵𝑟	rear wheel base	1.524/m
𝐴	windward area	2.674/m^2