A new collision warning system for lead vehicles in rear-end collisions

Abstract

Collision Warning Systems (CWS) are safety systems designed to warn the driver about an imminent collision. A CWS monitors the dynamic state of the traffic in realtime by processing information from various proprioceptive and exteroceptive sensors. It assesses the potential threat level and decides whether a warning should be issued to the driver through auditory and/or visual signals. Several measures have already been defined for threat assessment and various CWS have been proposed in literature. In this paper, we will focus on two time-based measures that assess both front and rear collision threats. In particular, a new threat metric, the time-to-last-second-acceleration (T <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">lsa</sub> ), for lead vehicles in rear-end collision is proposed and compared with its counterpart, the time-to-last-second-braking (T <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">lsb</sub> ) [18]. The T <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">lsa</sub> is a novel time-based approach that focuses on the lead vehicle (as opposed to the following vehicle). It inherits the properties of the T <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">lsb</sub> and, as such, is coherent with the human judgement of urgency and severity of threats. It directly quantifies the threat level of the current dynamic situation before a required evasive action (i.e. maximum acceleration) needs to be applied. Furthermore, different warning thresholds are proposed by considering the average driver reaction time. Its effect on decreasing the severity of a rear-end collision is studied and its reliability is tested using a well-established physics-based robotics simulator, namely Webots [13].