Intersection Collision Warning Research Articles

FAIR: Towards Impartial Resource Allocation for Intelligent Vehicles With Automotive Edge Computing

The emerging vehicular connected applications, such as cooperative automated driving and intersection collision warning, show great potentials to improve the driving safety, where vehicles can share the data collected by a variety of on-board sensors with surrounding vehicles and roadside infrastructures. Transmitting and processing this huge amount of sensory data introduces new challenges for automotive edge computing with traditional wireless communication networks. In this work, we address the problem of traditional asymmetrical network resource allocation for uplink and downlink connections that can significantly degrade the performance of vehicular connected applications. An end-to-end automotive edge networking system, <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">FAIR</i> , is proposed to provide <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">f</u> ast, sc <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">a</u> lable, and <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">i</u> mpa <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">r</u> tial connected services for intelligent vehicles with edge computing, which can be applied to any traffic scenes and road topology. The core of <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">FAIR</i> is our proposed symmetrical network resource allocation algorithm deployed at edge servers and service adaptation algorithm equipped on intelligent vehicles. Extensive simulations are conducted to validate our proposed <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">FAIR</i> by leveraging real-world traffic dataset. Simulation results demonstrate that <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">FAIR</i> outperforms existing solutions in a variety of traffic scenes and road topology.

Using a V2V- and V2I-based collision warning system to improve vehicle interaction at unsignalized intersections

Introduction: Unsignalized intersections are critical components of the road network where traffic collisions occur frequently. Method: This study aims to design a Vehicle-to-Vehicle (V2V)- and Vehicle-to-Infrastructure (V2I)-based unsignalized intersection collision warning system (UICWS) to improve driver performance and enhance driver safety at unsignalized intersections. A multi-user driving simulator experiment was conducted with 48 participants divided into 24 pairs. The dynamic interaction of each participant pair as they approached the intersection from straight-crossing directions was examined under different warning conditions (i.e., with vs without UICWS) and intersection field of view (IFOV) conditions (i.e., standard vs improved IFOV). Results and conclusions: The experimental results showed that the UICWS could effectively help drivers make appropriate operation decisions and reduce the number of right-angle collisions and near-collisions at unsignalized intersections. In the condition without UICWS, improved IFOV could prompt drivers to make crossing decisions in advance and adjust speed smoothly. Moreover, drivers’ crossing maneuvers changed with the relative distance between the subject and conflict vehicles and the intersection. The risks of collisions and near-collisions increased significantly when the two vehicles were at a similar distance to the intersection before they initiated any actions. Practical Applications: The findings show that the proposed UICWS can effectively reduce collisions or near-collisions at unsignalized intersections in a connected vehicle environment. On this basis, some active intervention strategies, such as specific speed guidance depending on the dynamics of the conflict vehicle, can be developed to ensure vehicles passing through unsignalised intersections safely.

A Hardware-in-the-Loop V2X Simulation Framework: CarTest.

Vehicle to Everything (V2X) technology is fast evolving, and it will soon transform our driving experience. Vehicles employ On-Board Units (OBUs) to interact with various V2X devices, and these data are used for calculation and detection. Safety, efficiency, and information services are among its core uses, which are currently in the testing stage. Developers gather logs during the real field test to see if the application is fair. Field testing, on the other hand, has low efficiency, coverage, controllability, and stability, as well as the inability to recreate extreme hazardous scenarios. The shortcomings of actual road testing can be compensated for by indoor testing. An HIL-based laboratory simulation test framework for V2X-related testing is built in this study, together with the relevant test cases and a test evaluation system. The framework can test common applications such as Forward Collision Warning (FCW), Intersection Collision Warning (ICW) and others, as well as more advanced features such as Cooperative Adaptive Cruise Control (CACC) testing and Global Navigation Satellite System (GNSS) injection testing. The results of the tests reveal that the framework (CarTest) has reliable output, strong repeatability, the capacity to simulate severe danger scenarios, and is highly scalable, according to this study. Meanwhile, for the benefit of researchers, this publication highlights several relevant HIL challenges and solutions.

Effect of Warning System on Interactive Driving Behavior at Unsignalized Intersection under Fog Conditions: A Study Based on Multiuser Driving Simulation

The intersection collision warning system (ICWS) is an emerging technology designed to assist drivers in avoiding collisions at intersections. ICWS has an excellent performance in reducing the number of collisions and improving driving safety. Previous studies demonstrated that when visibility was low under fog conditions, ICWS could help drivers timely detect hazardous conflicting vehicles. However, the influences of ICWS on interactive driving behavior at unsignalized intersection between different vehicles have barely been discussed. This study aimed to investigate the patterns of drivers’ interactive behaviors with the assistance of a new kind of ICWS under fog conditions based on Multiuser Driving Simulation. The Multiuser Driving Simulation allowed multiple drivers to operate in the same simulation scenario at the same time, and it could capture drivers’ interactions preferably. Forty-eight licensed drivers completed the driving simulation experiment in three fog conditions (no fog, light fog, and heavy fog) and two warning conditions (warning and no warning), in which the drivers drove in a straight-moving situation at unsignalized intersection with potential collision risks caused by the encounter of two vehicles. The results verified that warning and fog conditions were significant factors that affected the interactive driving behavior in the unsignalized intersection collision avoidance process, including the driver’s decision, TTC of action point, average acceleration (deceleration) rate, and postencroachment time. Compared to conditions without ICWS, the ICWS could help drivers make collision avoidance actions earlier and change the speed more smoothly. In addition, with the help of Multiuser Driving Simulation, associations between decision driving behaviors of vehicles were discussed with caution. The results revealed the decision-making mechanism of drivers in the process of interaction with other drivers. Under the influence of fog, interactive driving processes were fraught with increased risk at unsignalized intersection. However, the ICWS helped drivers interact more harmoniously, safely, and efficiently. The findings shed some light on the further development of ICWS and the study on interactive driving behavior.

Vehicle safety analysis at non‐signalised intersections at different penetration rates of collision warning systems

The market penetration of intelligent vehicles is a long-term process. In recent years, significant attention has been paid to the influence of technology market penetration rate (MPR) on efficiency at signalised intersections, but little attention has been given to such an influence on safety at non-signalised intersections. In this study, the influence of the intersection collision warning (ICW) system MPR on safety at non-signalised intersections is investigated. The authors built a Matlab-based simulation platform where an ICW algorithm was implemented. The simulation was firstly conducted to verify their models. Then the simulation results of different MPRs were obtained and compared statistically. Collision probability, conflict index, and collision rate were analysed for safety evaluation. The overall results showed that vehicle safety at non-signalised intersections improves with the increase of the ICW system MPR. Without considerations of inappropriateness and otherness of driver reaction to warnings, when the MPR is 20% and all vehicles are connected by vehicle-to-everything, the collision probability, conflict index, and collision rate can be reduced by around 20, 20, and 35%, respectively. The simulation method can establish a mapping relation between the ICW system MPRs and vehicle safety indices at non-signalised intersections.

Study on the Framework of Intersection Pedestrian Collision Warning System Considering Pedestrian Characteristics

One of the most widely used advanced driver assistance systems (ADAS) for preventing pedestrian–vehicle collisions is the intersection collision warning system (ICWS). Most previous ICWSs have been implemented with in-vehicle distance sensors, such as radar and lidar. However, the existing ICWSs show some weaknesses in alerting drivers at intersections because of limited detection range and field-of-view. Furthermore, these ICWSs have difficulties in identifying the pedestrian’s crossing intention because the distance sensors cannot capture pedestrian characteristics such as age, gender, and head orientation. To alleviate these defects, this study proposes a novel framework for vision sensor-based ICWS under a cloud-based communication environment, which is called the intersection pedestrian collision warning system (IPCWS). The IPCWS gives a collision warning to drivers approaching an intersection by predicting the pedestrian’s crossing intention based on various machine learning models. With real traffic data extracted by image processing in the IPCWS, a comparison study is conducted to evaluate the performance of the IPCWS in relation to warning timing. The comparison study demonstrates that the IPCWS shows better performance than conventional ICWSs. This result suggests that the proposed system has a great potential for preventing pedestrian–vehicle collisions by capturing the pedestrian’s crossing intention.

Effects of warning systems on the reactions of male and female drivers: A systematic review

Background: Warning systems are widely used as a safety option in cars. The aim of this study was to systematically investigate the reactions of male and female drivers after receiving the warnings. Methods: A literature search was done using Science Direct, Scopus and PubMed databases. The included articles have been published in 2003-2018. Articles were first screened reviewing their titles in order to exclude non-relevant articles. Then, the abstracts and full texts of the retained articles were reviewed. A manual search of journals was also performed. Results: Of 915 retrieved articles, 29 articles have been included in this review. In the included articles, 11 articles use forward collision warning (FCW) system, 6 articles use lane departure warning (LDW) system and 21 articles use other types of warning systems including intersection collision warning system, red light running collision warning, adaptive cruise control, etc. Most of the studies showed a significant difference between genders in the case of reaction-type variables. The variables that are significant in more studies are warning rate, crash rate and brake reaction time. Conclusion: Most of the included articles indicate that there are significant differences between male and female drivers after receiving warnings. This can be considered for customers to be more vigilant about choosing the appropriate warning system.

Examining Speech-Based Auditory Alerts for Intersection Collision Warning Systems using a Driving Simulator

Collision warning systems alert drivers of potential safety hazards. Forward collision warning (FCW) systems have been widely implemented and studied. However, intersection collision warning systems (ICWS), such as intersection movement assist (IMA), are more complex. Additional studies are needed to identify the best alert for directing the driver toward the hazard. A driving simulator study with 48 participants was conducted to examine three speech-based auditory alerts (general, directional, and command) in a simulated red light running (RLR) collision scenario. The command alert that informed the drivers to brake was the most effective in reducing the number of collisions. The post-drive questionnaire showed that drivers also rated the brake alert to be best in terms of interpretation (based on the Kruskal Wallis test). This study provides insight into the performance of different types of speech-based alerts for an intersection collision warning system and can provide guidance for future studies.

Analysis of Vehicle Information Sharing Performance of an Intersection Collision Warning System

Analysis of Vehicle Information Sharing Performance of an Intersection Collision Warning System

A Fixed Sensor-Based Intersection Collision Warning System in Vulnerable Line-of-Sight and/or Traffic-Violation-Prone Environment

This paper proposes a cooperative intersection collision warning system (CICWS) model that uses fixed traffic sensors to provide warning information to drivers at unsignalized intersections in a real-time manner. The CICWS model is useful for vulnerable line-of-sight and/or traffic-violation-prone environment since it determines whether the situation is really dangerous or not. More specifically, the model is for unsignalized intersections without STOP/YIELD signs, where drivers do not tend to stop. The situation forecast model uses vehicle location, speed, and time data obtained from multiple sensors located at intersection approaches, together with obstacle position and sight distance relationship. More specifically, the model has a real-time sight-distance triangle module and a collision-time prediction module. Using a microtraffic simulator called VISSIM, the validation and evaluation of the model are performed based on different scenarios with different parameters, such as inflow volume, locations of traffic sensors, design speed, and obstacle placement. The results show that the model successfully forecasts dangerous situations up to 94.3%, which may imply the deployment of the model in such an environment where vehicle-to-infrastructure (V2I) or vehicle-to-vehicle (V2V) communication are possible. Some limitations and a future research agenda have also been discussed.

Contextual and Applications-Aware Communications Protocol Design for Vehicle-to-Vehicle Communications

Cooperative vehicular ad-hoc networks are currently under development for improving traffic safety and efficiency. The strict requirements of traffic safety applications demand robust communication protocols that are able to efficiently operate under diverse and challenging operating conditions. In this context, this work proposes the joint study and evaluation of cooperative applications with potential dependencies, and evaluates a context-aware communications mechanism that exploits traffic context information to maximize the applications' effectiveness. The benefits of the proposed approach are illustrated with the intersection collision warning and emergency electronic brake lights applications.

Investigation Into the Effect of an Intersection Crash Warning System on Driving Performance in a Simulator

Objective: The objective of this research was to examine the effects on driving performance of a prototype intersection collision warning system (ICWS) that is based on the dedicated short-range communication (DSRC) technology concept. Methods: An experimental study with 32 participants using a driving simulator was conducted to examine the effects of ICWS on the driving performance of different drivers sorted by gender (male, female) and experience (experienced, novice) compared across 3 warning conditions: no warning, audio warning, and visual warning. Each participant completed 3 test, drives with each drive comprising 3 events. Each event contained a combination of scenario type (cross-traffic from left/right scenario, right turn against scenario) and warning condition. Results: The results showed that an ICWS, in general, could reduce the number of intersection crashes by approximately 40 to 50 percent and shorten drivers’ reaction times to brake in response to emergent events occurring at intersections. Moreover, drivers’ reaction times to brake in response to the audio warning system were significantly shorter than in response to the visual warning system in the cross-traffic from right scenario. In addition, speeds were reduced in all 3 scenarios and deceleration rates increased in the cross-traffic from left and right turn against scenario under the influence of ICWS. Conclusions: In general, the results provide overall support for ICWSs based on the DSRC technology concept. The broader implications of the research are discussed.

Cooperative Intelligent Transport Systems: 5.9-GHz Field Trials

The mobile outdoor radio environment is challenging for vehicular communications. Although multipath propagation offers diversity and benefits in non-line-of-sight (NLOS) conditions, simultaneous multipath and mobility results in a doubly-selective fading channel. In practice, this means that the channel parameters vary significantly in both time and frequency within the bandwidth and typical packet durations used in 802.11p/WAVE standards for short-range vehicular communications. This paper presents the results of extensive field trial campaigns conducted in several countries, totaling over 1100 km. These field trials are scenario based, focusing on challenging low-latency, high-reliability vehicle-to-vehicle (V2V) safety applications including intersection collision warning, turn across path, emergency electronic brake light, do not pass warning, and precrash sensing. Vehicle-to-infrastructure (V2I) applications are also considered. The field trials compared the performance of off-the-shelf WiFi-based radio equipment with a more advanced 802.11p compliant radio employing more sophisticated channel estimation and tracking. Field trial results demonstrate significantly improved performance using the advanced radio, translating into greatly increased driver warning times and stopping distances. In fact the results show that off-the-shelf WiFi equipment fails to provide sufficient stopping distance to avert accidents in some cases. During the field trials, channel sounding data were also captured. Analysis of these channel measurements reveals the critical importance of accurate channel estimation, tracking the channel in both time and frequency within each packet. Delay spread and Doppler spread statistics computed from the channel measurements validate previously reported results in the literature. The results in this paper, however, provide the first instance of channel measurements performed simultaneously to application performance evaluation. The objective is to firmly establish the link between radio channel characteristics and the performance of critical V2V safety applications.

3202 速度に依存した出会い頭事故防止警報のタイミングと受容性に関する研究(OS7-2 ドライバ行動,OS7 ヒューマンファクタ,オーガナイズド・セッション(OS))

A crossing collision in intersections is very dangerous accident. Therefore, measures that prevent it are required. One of them is an intersection collision warning system. The aim of this study is to find out factors related to driver's judges about the alarm timing. We performed an experiment using a driving simulator. The results showed that judging alarm timing for driver's depended on TTC and the distance from drivers to the intersection.

The effect of a collision warning system on the driving performance of young drivers at intersections

This study investigated the manner in which the driving performance of young people was affected by a collision warning system when they encountered a driver running a red light at an intersection. Furthermore, the causal relationship among driving performance, traffic factors and intersection accidents was examined using Path Analysis. Participants drove a driving simulator with an intersection collision warning system (ICWS) in a simulated urban area. The driving performance measures recorded were reaction time, speed, lateral position deviation and crash events. Experimental results indicated that drivers who drove a vehicle with an ICWS audio signal at an intersection had a shorter reaction time, a lower speed and a reduced accident rate than those observed while driving a vehicle without ICWS audio signal. Furthermore, Path Analysis showed that the ICWS had an indirect effect on accident rate reduction through improved driving performance. The location of intersection accident had both direct and indirect effects on the accident rate. The number of driving days per week had a direct effect on accident rate reduction.

Development of a VII-enabled prototype intersection collision warning system

This paper presents the design of a prototype intersection collision warning system based on Vehicle Infrastructure Integration (VII). This system involves Roadside Equipment (RSE) at an intersection and several units of On-Board Equipment (OBE), each in a moving vehicle. When an equipped vehicle approaches the intersection, its OBE queries the remaining time before the light turns red from the RSE which is synchronised with the intersection signal. Combining its own speed and position, the OBE determines the likelihood of running the red light. In case of such a hazard, the OBE warns its driver and notifies other OBEs wirelessly.