Design of Forward Collision Warning System Using Multi-Object Tracking

• Main Authors: Chang-Wei Shih, 施昌瑋
• Other Authors: 陳柏全
• Format: Others
• Language: zh-TW
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/pgg66r

碩士 === 國立臺北科技大學 === 車輛工程系所 === 98 === This research extends the region of interest for collision warning from the main lane to the adjacent lanes. According to the measured relative distance and relative orientation, a multi-object tracking algorithm is developed in this paper. Recursive least square technique is used to estimate coefficients of two second order polynomials for the relative distance and relative orientation, respectively. A variable forgetting factor which is adjusted with respect to the relative acceleration is proposed in this paper to enhance the estimation performance. TTC is calculated using the coefficients of the second order polynomial. When the TTC is below the threshold value, relative moving direction is used to determine if there is a pending collision. If the relative moving direction is toward the host vehicle, different levels of collision warning are issued to the driver according to the TTC values. If the relative moving direction is not toward the host vehicle, it is determined to be a safe condition even though the TTC below the threshold value. ISO 15623 is used to verify the proposed algorithm. The experimental results show that the proposed algorithm can pass all 3 tests. The proposed algorithm is also verified using the experimental data collected on the Civic Blvd. Expressway. Valid warning can be issued to the driver while avoiding the false alarms.