Measuring the Motion of Vulnerable Road Users Relative to Moving HGVs
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Publication Date
2019-04Journal Title
IEEE Transactions on Intelligent Transportation Systems
ISSN
1524-9050
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Volume
20
Issue
4
Pages
1404-1415
Type
Article
Metadata
Show full item recordCitation
Jia, Y., & Cebon, D. (2019). Measuring the Motion of Vulnerable Road Users Relative to Moving HGVs. IEEE Transactions on Intelligent Transportation Systems, 20 (4), 1404-1415. https://doi.org/10.1109/TITS.2018.2849019
Abstract
This paper focuses on measuring the motion of a cyclist moving adjacent to a heavy goods vehicle (HGV), from the detections of ultrasonic sensors installed along the side of the vehicle. The measurements are used in a prototype collision avoidance system that predicts the future relative motion and assesses the likelihood of a collision. An array of ultrasonic sensors is adopted to cover the near side of the HGV, where most of fatal collisions with cyclists occur. A method combining quadratic programming and Kalman filtering is developed in this paper for recovering the bearing angles of the cyclist from the detected distances provided by off-the-shelf ultrasonic sensors. The algorithms are developed for use in real time and practical constraints are considered. The simulation and testing results prove the effectiveness of the proposed method for a reasonable range of the speed differential between the cyclist and the HGV.
Sponsorship
China Scholarship Council and Cambridge Trusts
Cambridge Vehicle Dynamics Consortium
Identifiers
External DOI: https://doi.org/10.1109/TITS.2018.2849019
This record's URL: https://www.repository.cam.ac.uk/handle/1810/282879
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