Published Jan 16, 2017
Daxin Tian Yong Yuan Jian Wang Haiying Xia Jian Wang


The emergence of wireless communication technologies such as Dedicated Short-Range Communication (DSRC) has promoted the evolution of collision warning from simple ranging-sensor-based systems to cooperative systems. In cooperative systems, path prediction is a promising method for reflecting a driver’s intention and estimating the future position of vehicles. In this study, a short-term trajectory-modelling method is proposed to predict vehicle motion behaviour in the cooperative vehicular environment. In addition, a collision detection algorithm for winding roads is presented based on a model for determining the minimum distance of vehicles’ future trajectories. The cooperative collision avoidance system’s performance is analysed through simulation, providing useful theoretical insights into the effects of DSRC technology on vehicle collision avoidance in a curved road environment.


Download data is not yet available.



collision detection, dedicated short-range communication, winding roads, cooperative vehicle system, short-term trajectory-modelling

Amditis, A.; Bimpas, M.; Thomaidis, G.; Tsogas, M.; Netto, M.; Mammar, S.; Beutner, A.; Möhler, N.; Wirthgen,T.; Zipser, S.; Etemad, A.; Da Lio, M.; Cicilloni, R. 2010. A situation-adaptive lane-keeping support system: overview of the SAFELANE approach, IEEE Transactions on Intelligent Transportation Systems 11(3): 617–629. http://doi.org/10.1109/TITS.2010.2051667

Barth, A.; Franke, U. 2009. Estimating the driving state of oncoming vehicles from a moving platform using stereo vision, IEEE Transactions on Intelligent Transportation Systems 10(4): 560–571. http://doi.org/10.1109/TITS.2009.2029643

Bertolazzi, E.; Biral, F.; Da Lio, M.; Saroldi, A.; Tango, F. 2010. Supporting drivers in keeping safe speed and safe distance: the SASPENCE subproject within the European framework programme 6 integrating project PReVENT, IEEE Transactions on Intelligent Transportation Systems 11(3): 525–538. http://doi.org/10.1109/TITS.2009.2035925

Chang, B. R.; Tsai, H.-F.; Young, C.-P. 2010. Intelligent data fusion system for predicting vehicle collision warning using vision/GPS sensing, Expert Systems with Applications 37(3): 2439–2450. http://doi.org/10.1016/j.eswa.2009.07.036

Huang, C.-M.; Lin, S.-Y. 2013. An advanced vehicle collision warning algorithm over the DSRC communication environment: an advanced vehicle collision warning algorithm, Proceedings of the 2013 IEEE 27th International Conference on Advanced Information Networking and Applications (AINA), 25–28 March 2013, Barcelona, Catalonia, Spain, 696–702. http://doi.org/10.1109/AINA.2013.72

Jaber, N.; Cassidy, W. G.; Tepe, K. E.; Abdel-Raheem, E. 2015. Passive cooperative collision warning (PCCW) MAC designs for reliable vehicular safety messaging, Vehicular Communications 2(2): 95–109. http://doi.org/10.1016/j.vehcom.2015.03.003

Liu, J.; Khattak, A. J. 2016. Delivering improved alerts, warnings, and control assistance using basic safety messages transmitted between connected vehicles, Transportation Research Part C: Emerging Technologies 68: 83–100. http://doi.org/10.1016/j.trc.2016.03.009

Li, X. R.; Jilkov, V. P. 2003. Survey of maneuvering target tracking. Part I. Dynamic models, IEEE Transactions on Aerospace and Electronic Systems 39(4): 1333–1364. http://doi.org/10.1109/TAES.2003.1261132

Lin, C.-F.; Ulsoy, A. G.; LeBlanc, D. J. 2000. Vehicle dynamics and external disturbance estimation for vehicle path prediction, IEEE Transactions on Control Systems Technology 8(3): 508–518. http://doi.org/10.1109/87.845881

Lusetti, B.; Nouveliere, L.; Glaser, S., Mammar, S. 2008. Experimental strategy for a system based curve warning system for a safe governed speed of a vehicle, in Proceedings of the 2008 IEEE Intelligent Vehicles Symposium, 4–6 June 2008, Eindhoven, Netherlands, 660–665. http://doi.org/10.1109/IVS.2008.4621319

Lytrivis, P.; Thomaidis, G.; Tsogas, M.; Amditis, A. 2011. An advanced cooperative path prediction algorithm for safety applications in vehicular networks, IEEE Transactions on Intelligent Transportation Systems 12(3): 669–679. http://doi.org/10.1109/TITS.2011.2123096

Polychronopoulos, A.; Tsogas, M.; Amditis, A. J.; Andreone, L. 2007. Sensor fusion for predicting vehicles’ path for collision avoidance systems, IEEE Transactions on Intelligent Transportation Systems 8(3): 549–562. http://doi.org/10.1109/TITS.2007.903439

Sengupta, R.; Rezaei, S.; Shladover, S. E.; Cody, D.; Dickey, S.; Krishnan, H. 2007. Cooperative collision warning systems: concept definition and experimental implementation, Journal of Intelligent Transportation Systems: Technology, Planning, and Operations 11(3): 143–155. http://doi.org/10.1080/15472450701410452

Tang, A.; Yip, A. 2010. Collision avoidance timing analysis of DSRC-based vehicles, Accident Analysis & Prevention 42(1): 182–195. http://doi.org/10.1016/j.aap.2009.07.019

Tian, D.; Zhou, J.; Wang, Y.; Sheng, Z.; Xia, H.; Yi, Z. 2016. Modeling chain collisions in vehicular networks with variable penetration rates, Transportation Research Part C: Emerging Technologies 69: 36–59. http://doi.org/10.1016/j.trc.2016.05.013

Tu, L.; Huang, C.-M. 2010. Forwards: a map-free intersection collision-warning system for all road patterns, IEEE Transactions on Vehicular Technology 59(7): 3233–3248. http://doi.org/10.1109/TVT.2010.2051344