Real-time crash avoidance system on crossroads based on 802.11 devices and GPS receivers

Abstract

In this paper we study the contribution of intervehicule communication in ADAS applications. We thus propose a collaborative system on the crossroads using our 802.11g communications tools and a low cost GPS receiver. Once the vehicles positions exchanged, the crash avoidance is performed by predicting the future positions of both cars and calculating the time to impact and the region of high risk. The prediction is biased in time and space. The time error is due to the GPS and the communication latencies. We thus propose an estimation of both latencies and integrate them in the prediction loop. The Space error is caused by the uncertainty of the positions delivered by the GPS receivers. We compensate this error not by considering a deterministic position of the vehicle but by a probability of being in a region of space and by proposing a Kalman filter witch first reduces noise on the positioning and second estimates the variance of error on the measurement. This approach is validated through real scenarios of road crossing. We show thus the contribution of the cooperation via the communication devices in the reduction of accidents rate on the crossroads. I. INTRODUCTIONHE recent quick development of wireless communications systems make possible the concept of an advanced collaborative driving. Relatively to the perception sensors usually exploited in ADAS systems the V2V (vehicle to vehicle communications) have three contributions: 1)extending the sensing capability to the communication coverage area (which is more and more increased with recent technologies), 2)delivering a valid and exact information about neighbor vehicles (other perception tools can only "estimate" the features of the detected vehicles) and 3)making possible the exchange of none measurable data by an autonomous system (i.e. the driver intentions). Many research teams world-wide are involved in the definition of this new kind of network. The research can be done on many layers: i.e. the selection of the most reliable physical layer, the selection of the more adapted routing and access protocols [1,12] and the definition of HMI for new road safety applications. This complexity and diversity explains the numerous projects involved in the definition and design of the V2V communications systems. From early 1980s Japanese IVHS projects [2] to platooninglike systems developed within the European Chauffeur [3] and US PATH program [4], the inter-vehicle communications played an essential role on the conception

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