Chinese Journal of Mechanical Engineering

Table 1 Braking scenarios

From: Energy-Optimal Braking Control Using a Double-Layer Scheme for Trajectory Planning and Tracking of Connected Electric Vehicles

	Scenario A	Scenario B
Initial velocity V_s (m/s)	34	20
Terminal velocity V_e (m/s)	20	0
Distance to destination D (m)	204	50
Adhesion coefficient φ	0.85
Velocity slack ω (m/s)	0.2
Safety distance slack ϑ (m)	4.85
Road adhesion θ	0

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