Title: Cooperative collision warning system design at intersections based on trajectory prediction and conflict risk evaluation

Authors: Lin Zhang; Jiabei Gao; Lina Lan; Bin Li; Haobo Sun

Addresses: School of Automotive Studies, Tongji University, Shanghai 201804, China ' State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, Jilin 130025, China ' KH Automotive Technologies Co, Ltd., Changchun, Jilin, 130012, China ' School of Electronics and Information Engineering, Tongji University, Shanghai, 201804, China ' School of Automotive Studies, Tongji University, Shanghai, 201804, China

Abstract: A novel cooperative collision warning system (CCWS) based on trajectory prediction and conflict risk evaluation is proposed to guarantee driving safety at intersections. First, a vehicle kinematics model is introduced based on the constant acceleration model, turn rate and acceleration model respectively. The extended Kalman filtering (EKF) is applied to integrate the signal of global position system (GPS) and on-board vehicle sensors and filter the noise data of both to realise the real-time estimation of vehicle position. Then, based on the intersection's road geometry information, a cubic parabola model is established to simulate the driver's future manoeuvres. Considering the prediction uncertainty, the Gaussian process regression (GPR) is used to fit the vehicle's trajectory within 0-2 s in the future and further deduce the vehicle trajectory of the next 2-2.5 s. Simulation results show that the proposed algorithm has a higher precision of trajectory prediction.

Keywords: CCWS; cooperative collision warning system; intersections; trajectory prediction; conflict risk evaluation.

DOI: 10.1504/IJVD.2021.122690

International Journal of Vehicle Design, 2021 Vol.87 No.1/2/3/4, pp.95 - 119

Received: 03 Aug 2020
Accepted: 07 Apr 2021
Published online: 05 May 2022 *

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