Journal of Jilin University(Engineering and Technology Edition) ›› 2023, Vol. 53 ›› Issue (4): 1019-1029.doi: 10.13229/j.cnki.jdxbgxb.20210764

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Vehicle collision warning method at intersection based on V2I communication

Rui ZHAO1(),Yun LI1,Hong-yu HU2(),Zhen-hai GAO2   

  1. 1.College of Automotive Engineering，Jilin University，Changchun 130022，China
    2.State Key Laboratory of Automotive Simulation and Control，Jilin University，Changchun 130022，China
  • Received:2021-08-07 Online:2023-04-01 Published:2023-04-20
  • Contact: Hong-yu HU E-mail:rzhao@jlu.edu.cn;huhongyu@jlu.edu.cn

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Abstract:

Facing the unsignalized intersection scenario with a high incidence of traffic accidents， a vehicle collision warning method based on V2I communication is proposed to ensure driving safety. First， a method for matching road segments and conflict areas is proposed to screen vehicles that are at risk of collision and the corresponding conflict areas. On this basis， a two-level redundant intersection collision warning method is proposed， including the Dynamic Distance to Collision （DDTC） algorithm， which is used to perform first-level collision warning before the vehicle enters the intersection， as well as the Circular Area to Collision （CATC） algorithm， which is used for secondary collision warning after the vehicle enters the intersection. This method compensates for the limitations of self-vehicle perception through networked information， improves detection efficiency through conflict area matching and safe distance filtering， and improves detection accuracy through dynamic distance difference threshold setting. The test results based on the NHTSA intersection scene set show that compared with the representative Time to Collision method and Time to Distance method， the false negative rate is reduced by 16% and 6%， and the false positive rate is reduced by 88% and 48%， respectively， and the detection time is reduced by about 74%， with higher accuracy and efficiency.

Key words: vehicle engineering, collision warning, vehicle-to-infrastructure, intersection, dynamic distance threshold

CLC Number: 

  • U27

Fig.1

Process description of vehicle collision warning method at intersection based on V2I communication"

Fig.2

Road area around intersection"

Fig.3

Conflict area within the intersection"

Table 1

Mapping from vehicle driving road segment and expected steering information to conflict areas"

主车辅车冲突区域
直行直行IV
直行右转-
直行左转I或IV
直行掉头-
右转直行IV
右转右转-
右转左转IV
右转掉头-
左转直行IV
左转右转-
左转左转I或IV
左转掉头II
掉头直行III或IV
掉头右转III
掉头左转III或IV
掉头掉头III

Fig.4

Vehicles passing through the conflict area IV"

Fig.5

Vehicles passing through the conflict area IV by turning left"

Fig.6

Vehicles passing through conflict area I by turning left"

Fig.7

Corner when vehicle turns left through conflict zone I"

Fig.8

Vehicles passing through conflict area II"

Fig.9

Vehicles passing through conflict area III by U-turn"

Fig.10

Circular area collision detection"

Fig.11

NHTSA test scenario for road intersectioncollision avoidance systems"

Table 2

NHTSA road intersection scenario setting"

场景场景描述
ICA?1主车以恒定的速度直行，辅车在与主车垂直的车道以恒定速度直行
ICA?2辅车以恒定速度直行，主车在与主车垂直的车道上以一个小于辅车速度的恒定速度右转
ICA?3辅车以恒定速度直行，主车在与主车垂直的车道上以一个小于辅车速度的恒定速度左转
ICA?6主车以恒定速度直行，辅车在与主车垂直的车道上以恒定的减速度在交叉口前刚好停车
ICA?7辅车以恒定速度直行，主车在与主车垂直的车道上以恒定的减速度在交叉口前刚好停车
ICA?8主车以恒定的速度左转，辅车在与主车平行的车道上以恒定的减速度在交叉口前刚好停车

Table 3

Scenario ICA-1，ICA-2，ICA-3，ICA-6，ICA-7 and ICA-8 initial parameter setting"

参数ICA?1ICA?2ICA?3ICA?6ICA?7ICA?8
主车初始速度/（m·h-1）25±1.322±1.122±1.135±1.835±1.825±1.3
主车转弯速度/（m·h-1）-12±1.112±1.1----
主车减速度/g--0.15±0.05-0.15±0.05--0.15±0.1-
辅车初始速度/（m·h-1）25±1.335±1.835±1.835±1.835±1.825±1.3
辅车减速度/g----0.15±0.1--0.15±0.1
主车距交叉口距离/m56±5.649±4.949±4.9---
辅车距交叉口距离/m56±5.678±7.878±7.8---

Table 4

ICA-1、ICA-2、ICA-3 test results"

性 能本文方法TTCDTC
参数组1参数组2参数组3
漏报率（ICA?1）/%000195
漏报率（ICA?2）/%100217
漏报率（ICA?3）/%100107
时效性/s1.31/4.931.57/4.911.31/6.18
时效提升率/%73.4268.0278.80

Table 5

ICA-4、ICA-5、ICA-6 test results"

误报率本文方法TTCDTC
参数组1参数组2参数组3
ICA?6002410060
ICA?71314229956
ICA?8092210063
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