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A Design of Cooperative Overtaking Based on Complex Lane Detection and Collision Risk Estimation

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Document pages: 12 pages

Abstract: Cooperative overtaking is believed to have the capability of improving roadsafety and traffic efficiency by means of the real-time information exchangebetween traffic participants, including road infrastructures, nearby vehiclesand others. In this paper, we focused on the critical issues of modeling,computation, and analysis of cooperative overtaking and made it playing a keyrole in the road overtaking area. In detail, for the purpose of extending theawareness of the surrounding environment, the lane markings in front of egovehicle were detected and modeled with Bezier curve using an onboard camera.While the nearby vehicle positions were obtained through the vehicle-to-vehiclecommunication scheme making assure of the accuracy of localization. Then,Gaussian-based conflict potential field was proposed to guarantee theovertaking safety, which can quantitatively estimate the oncoming collisiondanger. To support the proposed method, many experiments were conducted on thehuman-in-the-loop simulation platform. The results demonstrated that ourproposed method achieves better performance, especially in some unpredictablenature road circumstances.

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