A Novel V2V Cooperative Collision Warning System Using UWB/DR for Intelligent Vehicles
The collision warning system (CWS) plays an essential role in vehicle active safety. However, traditional distance-measuring solutions, e.g., millimeter-wave radars, ultrasonic radars, and lidars, fail to reflect vehicles’ relative attitude and motion trends. In this paper, we proposed a vehicle-to-...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-05-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/21/10/3485 |
| _version_ | 1797533845563637760 |
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| author | Mingyang Wang Xinbo Chen Baobao Jin Pengyuan Lv Wei Wang Yong Shen |
| author_facet | Mingyang Wang Xinbo Chen Baobao Jin Pengyuan Lv Wei Wang Yong Shen |
| author_sort | Mingyang Wang |
| collection | DOAJ |
| description | The collision warning system (CWS) plays an essential role in vehicle active safety. However, traditional distance-measuring solutions, e.g., millimeter-wave radars, ultrasonic radars, and lidars, fail to reflect vehicles’ relative attitude and motion trends. In this paper, we proposed a vehicle-to-vehicle (V2V) cooperative collision warning system (CCWS) consisting of an ultra-wideband (UWB) relative positioning/directing module and a dead reckoning (DR) module with wheel-speed sensors. Each vehicle has four UWB modules on the body corners and two wheel-speed sensors on the rear wheels in the presented configuration. An over-constrained localization method is proposed to calculate the relative position and orientation with the UWB data more accurately. Vehicle velocities and yaw rates are measured by wheel-speed sensors. An extended Kalman filter (EKF) is applied based on the relative kinematic model to combine the UWB and DR data. Finally, the time to collision (TTC) is estimated based on the predicted vehicle collision position. Furthermore, through UWB signals, vehicles can simultaneously communicate with each other and share information, e.g., velocity, yaw rate, which brings the potential for enhanced real-time performance. Simulation and experimental results show that the proposed method significantly improves the positioning, directing, and velocity estimating accuracy, and the proposed system can efficiently provide collision warning. |
| first_indexed | 2024-03-10T11:20:25Z |
| format | Article |
| id | doaj.art-d4f483cfca5b4aa892b2b4d56c994632 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T11:20:25Z |
| publishDate | 2021-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-d4f483cfca5b4aa892b2b4d56c9946322023-11-21T20:05:11ZengMDPI AGSensors1424-82202021-05-012110348510.3390/s21103485A Novel V2V Cooperative Collision Warning System Using UWB/DR for Intelligent VehiclesMingyang Wang0Xinbo Chen1Baobao Jin2Pengyuan Lv3Wei Wang4Yong Shen5Institute of Intelligent Vehicles, School of Automotive Studies, Tongji University, No. 4800 Cao’an Highway, Jiading District, Shanghai 201804, ChinaInstitute of Intelligent Vehicles, School of Automotive Studies, Tongji University, No. 4800 Cao’an Highway, Jiading District, Shanghai 201804, ChinaInstitute of Intelligent Vehicles, School of Automotive Studies, Tongji University, No. 4800 Cao’an Highway, Jiading District, Shanghai 201804, ChinaInstitute of Intelligent Vehicles, School of Automotive Studies, Tongji University, No. 4800 Cao’an Highway, Jiading District, Shanghai 201804, ChinaInstitute of Intelligent Vehicles, School of Automotive Studies, Tongji University, No. 4800 Cao’an Highway, Jiading District, Shanghai 201804, ChinaInstitute of Intelligent Vehicles, School of Automotive Studies, Tongji University, No. 4800 Cao’an Highway, Jiading District, Shanghai 201804, ChinaThe collision warning system (CWS) plays an essential role in vehicle active safety. However, traditional distance-measuring solutions, e.g., millimeter-wave radars, ultrasonic radars, and lidars, fail to reflect vehicles’ relative attitude and motion trends. In this paper, we proposed a vehicle-to-vehicle (V2V) cooperative collision warning system (CCWS) consisting of an ultra-wideband (UWB) relative positioning/directing module and a dead reckoning (DR) module with wheel-speed sensors. Each vehicle has four UWB modules on the body corners and two wheel-speed sensors on the rear wheels in the presented configuration. An over-constrained localization method is proposed to calculate the relative position and orientation with the UWB data more accurately. Vehicle velocities and yaw rates are measured by wheel-speed sensors. An extended Kalman filter (EKF) is applied based on the relative kinematic model to combine the UWB and DR data. Finally, the time to collision (TTC) is estimated based on the predicted vehicle collision position. Furthermore, through UWB signals, vehicles can simultaneously communicate with each other and share information, e.g., velocity, yaw rate, which brings the potential for enhanced real-time performance. Simulation and experimental results show that the proposed method significantly improves the positioning, directing, and velocity estimating accuracy, and the proposed system can efficiently provide collision warning.https://www.mdpi.com/1424-8220/21/10/3485collision warning systemultra-widebanddead reckoningtime to collision |
| spellingShingle | Mingyang Wang Xinbo Chen Baobao Jin Pengyuan Lv Wei Wang Yong Shen A Novel V2V Cooperative Collision Warning System Using UWB/DR for Intelligent Vehicles Sensors collision warning system ultra-wideband dead reckoning time to collision |
| title | A Novel V2V Cooperative Collision Warning System Using UWB/DR for Intelligent Vehicles |
| title_full | A Novel V2V Cooperative Collision Warning System Using UWB/DR for Intelligent Vehicles |
| title_fullStr | A Novel V2V Cooperative Collision Warning System Using UWB/DR for Intelligent Vehicles |
| title_full_unstemmed | A Novel V2V Cooperative Collision Warning System Using UWB/DR for Intelligent Vehicles |
| title_short | A Novel V2V Cooperative Collision Warning System Using UWB/DR for Intelligent Vehicles |
| title_sort | novel v2v cooperative collision warning system using uwb dr for intelligent vehicles |
| topic | collision warning system ultra-wideband dead reckoning time to collision |
| url | https://www.mdpi.com/1424-8220/21/10/3485 |
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