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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 Vs (m/s) 34 20
Terminal velocity Ve (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