A Cooperative Collision Warning System Based on Digital Map and Dynamic Vehicle Model Fusion

Abstract

Abstract. The vehicle collision warning system (CWS), enabled by recent advances in positioning systems and wireless communication technologies, plays a significant role in reducing traffic accidents. Since vehicle position is the most frequently exchanged information in vehicular networks and the key information in collision prediction, it becomes crucial to establish a strong level of trust in the positions, especially in active safety applications. To this end, in this paper we proposed a cooperative collision warning system (CCWS) based on digital map and dynamic vehicle model fusion. In CCWS, vehicles broadcast self-relevant information to neighbor vehicles periodically. In contrast to conventional methods that use only vehicle's dynamic models, the proposed system takes the information provided by a digital map into consideration to improve the accuracy of vehicle position estimation. Each vehicle calculates whether a potential collision may occur by fusing the dynamic vehicle model, digital map and the information received. If such a dangerous situation is predicted, an alarm will be triggered to inform the driver. Our experiment results show that the CCWS has a better performance in vehicle position estimation and collision prediction compared with the CWS without considering cooperation.