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.


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    Title :

    Measuring the Motion of Vulnerable Road Users Relative to Moving HGVs


    Contributors:
    Jia, Yanbo (author) / Cebon, David (author)


    Publication date :

    2019-04-01


    Size :

    2498420 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





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    TRRL Lab.,GB / MIRA,GB | Automotive engineering | 1984


    Vulnerable Road Users: Cyclist

    Slop, M. / Vag-och transport-forskningsinstitutet | British Library Conference Proceedings | 1992