关键词: 车路协作, 车辆碰撞预警, 道路网格, 轨迹预测, 速度建议

Abstract:

Nowadays, the development of wireless communications technology makes vehicle-road communication possible. Building vehicle-road communication based cooperative intersection collision avoidance systems can ensure the safety of vehicles traveling at an intersection and improve the passing rate of the intersection, however, vehicle collision warning system needs accurately estimating the vehicle's route, when vehicle's in danger, giving the safe speed range and informing the vehicle to decelerate or brake. A grid-based space-time synchronization algorithm for vehicle collision avoidance warning is proposed, which will divide the intersection into several grids. Roadside unit through the vehicle velocity, direction and attribute to determine the vehicle trajectory, which is the vehicle occupied grid number. If two vehicles occupy the same grid at the same moment, the risk of collision will occur. Then the unit gives a safe speed based on the state of motion of the vehicle to the vehicle to avoid the collision. To test the algorithm, the algorithm is simulated and truly tested in the scenario of intersection with signal lights and intersection without signal lights. Experimental results demonstrate the proposed algorithm can accurately detect the vehicles which are in potential collision in the intersection and give the advised speed. The results also demonstrate the effectiveness and accuracy of the system.

Key words: vehicle-infrastructure cooperative, vehicle collision warning, road grid, trajectory prediction, speed advice