Journal
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
Volume 65, Issue 6, Pages 4359-4367Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TVT.2016.2538801
Keywords
Collision avoidance; cyclist protection; emergency braking; heavy goods vehicles (HGVs); position prediction; ultrasonic sensors
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This paper focuses on preventing collisions between cyclists and heavy goods vehicles ( HGVs). A collision avoidance system, which is designed to avoid side-to-side collisions between HGVs and cyclists, is proposed. The cyclist's motion relative to the HGV is measured with an array of ultrasonic sensors. The detected distances from ultrasonic sensors are processed in real time to construct a smooth trajectory for the cyclist. The controller assumes constant acceleration and constant yaw rate for both the HGV and the cyclist and extrapolates the relative motion forward in time. The HGV's brakes are engaged if a collision is predicted. A prototype system was built and fitted onto a test truck. The proposed collision avoidance system was tested in real time and proved to be effective within certain speed ranges.
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