Тошкент “транспорт ва логистика: республика транспорт-транзит салоҳиятини ривожлантиришда рақамлитехнологиялар”

Figure 2.
Schematic of a vehicle with automatic braking. 
Stop time is the time from the moment the vehicle brakes are 
applied until it comes to a complete stop. The stopping time can be 
obtained from the following equation: 
𝑡
𝑠𝑡𝑜𝑝
=
𝑣
𝑎𝑣
𝑎
𝑡𝑜𝑟𝑚𝑜𝑧
(4) 
The FCW warns the driver of a recent collision with a leading 
vehicle. The driver's response to the warning and braking determine the 
waiting time. 
Figure 3.
Automatic emergency braking system Matlab / Simulink model [2]. 
The model consists of two main systems: AEBS with Sensor 
Fusion, which includes a AEBS controller. The instrument panel 
displays the vehicle's speed, acceleration and position, and a collision 
warning (FSW). 

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991 
This system has an algorithm for tracking and integrating sensors 
as well as speed control and AEBS. The AEB system implements a 
forward collision warning (FCW) and AEBS control algorithm based on 
a stop time approach. 
In the summer of 2015, Zarulem journalists tested the autonomous 
car’s braking system for nine cars in different price categories. They 
argued that most systems have not yet reached a level of complete trust. 
However, the activation of an electronic automatic system in 
emergencies prevents collisions in most cases. Hence, it was concluded 
that they were useful[3]. 
In this test method, when a driverless car is moving behind another 
vehicle, the obstacle in front of the car in front of it passes the obstacle 
when it does not have time to stop until the obstacle. The stopping 
distance will not be sufficient as there is no obstacle to the car without 
the driver. 
Figure 4.
Kinematic scheme of driverless car test method. 
Radar or laser devices that measure the distance are mounted on 
the front of the driverless car. The distance B between these technical 
visual aids is taken into account during the calculation. The distances 
from the driverless vehicle to the vehicle in front can determine the 
difference between S1 and S2. 
tan 𝛼 =
𝑆
1
−𝑆
2
𝐵
; (5) 
From formula (5) it is possible to determine the angle of rotation of 
the steering wheel of the vehicle in front. After receiving information 
that the car in front is turning, the driverless car starts braking. In this 
case, the braking distance is determined as follows. 
𝑆 =
𝑣
ха
2
2𝑎
ха
− 𝑣
𝑎𝑣
2
∗ 𝑡
𝑥𝑎.𝑠𝑡𝑜𝑝
∗ 𝑠𝑖𝑛𝛼 + 𝑆
0
(6) 

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992 
Here: v
xa
, v
av
, - the speed of the driver and the cars ahead, 
respectively: 
deceleration of a car without a driver: 
txastop, - the maximum braking time of the driverless car 
In this test method, you can draw a graph of the speed 
dependence of the steering wheel rotation of the car in front of you 
without a driver.