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A Novel V2V Cooperative Collision Warning System Using UWB/DR for Intelligent Vehicles
Mingyang Wang1, Xinbo Chen1, Baobao Jin1
1Institute of Intelligent Vehicles, School of Automotive Studies, Tongji University, No. 4800 Cao'an Highway, Jiading District, Shanghai 201804, China.
Sensors (Basel, Switzerland)
|June 2, 2021
Summary
This study introduces a cooperative collision warning system (CCWS) using ultra-wideband (UWB) and dead reckoning (DR) for precise vehicle positioning and motion prediction. The enhanced system improves safety by accurately estimating time to collision (TTC).
Area of Science:
- Automotive Engineering
- Robotics and Control Systems
- Sensor Fusion
Background:
- Traditional collision warning systems (CWS) lack accurate relative attitude and motion trend data.
- Existing distance-measuring technologies (radar, lidar) have limitations in capturing complex vehicle dynamics.
- Vehicle active safety relies heavily on advanced warning systems.
Purpose of the Study:
- To develop a cooperative collision warning system (CCWS) for enhanced vehicle safety.
- To improve the accuracy of relative positioning, orientation, and motion estimation between vehicles.
- To provide reliable real-time collision warnings by predicting time to collision (TTC).
Main Methods:
- Integration of an ultra-wideband (UWB) relative positioning/directing module with a dead reckoning (DR) module using wheel-speed sensors.
- Implementation of an over-constrained localization method for precise UWB data analysis.
- Application of an extended Kalman filter (EKF) to fuse UWB and DR data based on a relative kinematic model.
Main Results:
- Significant improvements in positioning, directing, and velocity estimation accuracy were achieved.
- The proposed CCWS effectively provides timely and accurate collision warnings.
- Experimental and simulation results validate the system's performance.
Conclusions:
- The developed CCWS, utilizing UWB and DR, offers superior relative vehicle state estimation.
- The system enhances vehicle active safety by providing reliable collision prediction.
- Cooperative V2V communication integrated with UWB enhances real-time performance and safety.
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