Laser based collision warning system for high conflict vehicle-pedestrian zones

摘要

A collision risk estimation plays a crucial role in both driver and pedestrian safety in advanced driver assistance systems (ADAS) and autonomous vehicle navigation(AVN). In the proposed approach, an object warning collision system is implemented using a laser sensor. We focus on high conflict vehicle/pedestrian zones within a range of [20km/h, 30km/h]. The proposed method was implemented in four steps. Firstly, the lane region surface located ahead of the vehicle is detected. Secondly, a collision risk region is determined by using the vehicle required stopping distance. Thirdly, the objects within the lane surface region and the collision risk region are detected. Then for the all detected object, the centroid, radius information are extracted. Lastly, in order to prevent accidents as possible a collision risk estimation is implemented. Preliminary results were performed and tested on a group of consecutive frame captured while in motion to prove its effectiveness.