Error analysis and performance evaluation of a future-trajectory-based cooperative collisionwarning system

Authors:
Jihua Huang;Han-Shue Tan
Affiliations:
University of California, Berkeley, CA;California Partners for Advanced Transit and Highways, University of California, Richmond, CA
Venue:
IEEE Transactions on Intelligent Transportation Systems
Year:
2009

Citing 2
Cited 2

Vehicle control algorithms for cooperative driving with automated vehicles and intervehicle communications

IEEE Transactions on Intelligent Transportation Systems
DGPS-Based Vehicle-to-Vehicle Cooperative Collision Warning: Engineering Feasibility Viewpoints

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Wireless local danger warning: cooperative foresighted driving using intervehicle communication

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An early collision warning algorithm for vehicles based on V2V communication

International Journal of Communication Systems

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Abstract

This paper focuses on the robustness and reliability of a future-trajectory-based cooperative collision warning system (CCWS), which estimates and communicates vehicle positions and predicts and processes future trajectories for collision decision making. The feasibility of the system design has been demonstrated in previous work, and this paper analyzes the error propagation and its impact on detection performance. The reliability of the CCWS heavily depends on the reliability of the Differential Global Positioning System (DGPS)-based positioning system and the reliability of intervehicle communication. This paper uses the Kalman filter technique to statistically characterize the errors in position estimation and trajectory prediction, incorporates communication errors as part of the prediction error, and accordingly determines the probability of conflicts and the quality of the detection performance. Results with experimental data are presented to illustrate the error propagation and to demonstrate the reliability of the system.