Journal
TRANSPORTATION RESEARCH PART C-EMERGING TECHNOLOGIES
Volume 51, Issue -, Pages 66-82Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.trc.2014.11.002
Keywords
Collision avoidance; Vehicle safety communications; Probabilistic model; Intelligent Transportation Systems; Vehicle to vehicle communication
Categories
Funding
- Australian Research Council [LP120100700]
- Australian Research Council [LP120100700] Funding Source: Australian Research Council
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Vehicle-to-vehicle communication systems allow vehicles to share state information with one another to improve safety and efficiency of transportation networks. One of the key applications of such a system is in the prediction and avoidance of collisions between vehicles. If a method to do this is to succeed it must be robust to measurement uncertainty and to loss of communication links. The method should also be general enough that it does not rely on constraints on vehicle motion for the accuracy of its predictions. It should work for all interactions between vehicles and not just a select subset. This paper presents a method to calculate Time to Collision for unconstrained vehicle motion. This metric is gated using a novel technique based on relative vehicle motion that we call looming. Finally, these ideas are integrated into a probabilistic framework that accounts for uncertainty in vehicle state and loss of vehicle-to-vehicle communication. Together this work represents a new way of considering vehicle collision estimation. These algorithms are validated on data collected from real world vehicle trials. (C) 2014 Elsevier Ltd. All rights reserved.
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