In this scenario, the pedestrian will be moving in the positive y direction with an initial speed of 10 km/h (13.89m/s). They will begin at (35,-7) and continue until they come to a stop at (35,0) giving them a final speed of 0 km/h. This leaves the pedestrian stopped directly in the path of the autonomous vehicle with a potential time of impact of 2.16 seconds. In this scenario, the PCAS will input the data from the stereo camera and communicate with the brake by wire system to decelerate the autonomous vehicle stopping the vehicle 1.5 meters before it collides with the pedestrian.
| Initial Location: | Final Location: | Initial Speed: | Final Speed: | |
|---|---|---|---|---|
| Pedestrian | (35, -7) | (35, 0) | 2.77 m/s | 0 m/s |
| Vehicle | (0, 0) | (33, 0) | 13.89 m/s | 0 m/s |
In this scenario, the pedestrian will be moving in the positive y direction with an initial speed of 10 km/h (13.89m/s). They will begin at (35,-7) and continue until they come to a stop at (35,-2) giving them a final speed of 0 km/h. This leaves the pedestrian outside of the collision zone. This is because the width of the autonomous vehicle is 2.0 meters wide. In this scenario, the PCAS will input the data from the stereo camera and determine initially that it needs to slow down, as the system will not exceed 16km/h (4.4m/s) if a pedestrian is within 4.5 meters away. Once the stereo camera detects that the pedestrian has stopped outside of the collision zone and that the pedestrian is over 4.5m away, it will accelerate at a steady rate of 0.25g, accelerating at 2.45m/s, until it reaches a steady state velocity.
| Initial Location: | Final Location: | Initial Speed: | Final Speed: | |
|---|---|---|---|---|
| Pedestrian | (35, -7) | (35, -2) | 2.77 m/s | 0 m/s |
| Vehicle | (0, 0) | (33, 0) | 13.89 m/s | 0 m/s |
In this scenario, the pedestrian will be moving in the positive y direction with an initial speed of 10 km/h (13.89m/s). They will begin at (35,-7) and continue until they come to a stop at (35,-3) giving them a final speed of 0 km/h. The pedestrian does not end in the collision zone. This is because the width of the autonomous vehicle is 2.0 meters wide. In this scenario, the PCAS will input the data from the stereo camera and determine that it initially needs to slow down, as the system will not exceed 16km/h (4.4m/s) if a pedestrian is within 4.5 meters away. The stereo camera will then detect that the pedestrian has stopped outside of the collision zone and will accelerate at a steady rate of 0.25g, accelerating at 2.45m/s, until it reaches a steady state velocity.
| Initial Location: | Final Location: | Initial Speed: | Final Speed: | |
|---|---|---|---|---|
| Pedestrian | (35, -7) | (35, -3) | 2.77 m/s | 0 m/s |
| Vehicle | (0, 0) | (+y, 0) | 13.89 m/s | 2.45 m/s |
In this scenario, the pedestrian will be moving in the positive y direction with an initial speed of 10 km/h (13.89m/s). They will begin at (35,-7) and continue until they come to a stop at (35,-5) giving them a final speed of 0 km/h. The pedestrian does not end in the collision zone nor is ever within 4.5 meters of the autonomous vehicle. In this scenario, the PCAS does not need to communicate with the brake by wire system and the autonomous vehicle will continue with its initial velocity of 50km/h (13.89m/s).
| Initial Location: | Final Location: | Initial Speed: | Final Speed: | |
|---|---|---|---|---|
| Pedestrian | (35, -7) | (35, -5) | 2.77 m/s | 0 m/s |
| Vehicle | (0, 0) | (+y, 0) | 13.89 m/s | 2.45 m/s |