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Development and evaluation of a time-to-collision based collision warning application with ROS
(2022)
Many vehicle collision warning systems are constrained to forward collisions with other vehicles. To account for more collision scenarios, a collision warning system is required that considers the entire surroundings of the vehicle for collision warning. A collision warning application that can warn about collisions with vehicles in the surroundings based on the Time-To-Collision was developed to achieve this aim.
For the calculation of the Time-To-Collision, an algorithm that represents each vehicle with a circle was chosen. The algorithm was adapted for the context of the collision warning application. To allow using more circles for the representation of a vehicle, an extended version of the algorithm was developed and implemented. The Robot Operating System was used for the implementation of the application.
The application was evaluated with collision scenarios from simulation and with real-world experiments using a test car. The focus of the evaluation was on the Time-To-Collision calculation with the extended algorithm. The simulation scenarios showed that the application can calculate the Time-To-Collision in a straight road scenario and an intersection scenario. Furthermore, the experiments with the test car validated that the application can be used to calculate the Time-To-Collision in a rear-end near-collision situation and in a near-collision situation at an intersection. The results of the evaluation suggest that the Time-To-Collision calculation of the application can be used for the collision warnings for surrounding vehicles.
Strategy design innovation
(2019)
Strategy design innovation
(2024)