Elastic band based pedestrian collision avoidance using V2X communication
Elastic band based pedestrian collision avoidance using V2X communication
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DOI：
10.1109/ivs.2017.7995731
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发表时间：
2017
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影响因子：
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通讯作者：
S. Y. Gelbal;Sibel Arslan;Haoan Wang;B. A. Güvenç;L. Guvenç
中科院分区：
文献类型：
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作者：
S. Y. Gelbal;Sibel Arslan;Haoan Wang;B. A. Güvenç;L. Guvenç
本文研究的是基于V2X通信的道路车辆行人碰撞预警和避免系统。如果无法使用摄像头、雷达和激光雷达等视线传感器确定行人或行人群体的存在和位置，则可以通过用于 V2X 通信的 DSRC 无线电，使用行人智能手机应用程序发出的信号来检测行人或行人群体相对于道路车辆的信号并进行定位。在该方法的开发和初始实验测试中，使用高保真车辆动力学仿真程序 Carsim Real Time with Sensors and Traffic 中经过验证的自动驾驶车辆模型的硬件在环设置以及模拟车辆和行人通信的两个 DSRC 调制解调器。车辆要么停下来，要么如果可能的话，以社会可接受的方式绕过行人。当车辆附近路径上检测到行人时，采用弹性带方法实时局部修正车辆轨迹。使用硬件在环仿真证明了所提出方法的有效性。
This paper is on a pedestrian collision warning and avoidance system for road vehicles based on V2X communication. In cases where the presence and location of a pedestrian or group of pedestrians cannot be determined using line-of-sight sensors like camera, radar and lidar, signals from pedestrians' smartphone apps are used to detect and localize them relative to the road vehicle through the DSRC radio used for V2X communication. A hardware-in-the-loop setup using a validated automated driving vehicle model in the high fidelity vehicle dynamics simulation program Carsim Real Time with Sensors and Traffic is used along with two DSRC modems emulating the vehicle and pedestrian communications in the development and initial experimental testing of this method. The vehicle either stops or, if possible, goes around the pedestrians in a socially acceptable manner. The elastic band method is used to locally modify the vehicle trajectory in real time when pedestrians are detected on the nearby path of the vehicle. The effectiveness of the proposed method is demonstrated using hardware-in-the-loop simulations.