Repository logo
 

Measuring the Motion of Vulnerable Road Users Relative to Moving HGVs

Accepted version
Peer-reviewed

Type

Article

Change log

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.

Description

Keywords

Collision avoidance, heavy goods vehicles, motion estimation, quadratic programming, ultrasonic sensors, vulnerable road users

Journal Title

IEEE Transactions on Intelligent Transportation Systems

Conference Name

Journal ISSN

1524-9050
1558-0016

Volume Title

20

Publisher

Institute of Electrical and Electronics Engineers (IEEE)
Sponsorship
China Scholarship Council and Cambridge Trusts Cambridge Vehicle Dynamics Consortium