An Adaptive Anti-Collision Warning Method for Commercial Vehicles Based on Collision Probability Field

Forward collision warning (FCW) systems have been widely studied and applied to various vehicles. However, the current FCW system is difficult to be directly applied by commercial vehicles, considering the particularity of commercial vehicles in size and kinetic energy. In this paper, the authors construct the collision probability field through the kinematics method, which can calculate the probability of collision and severity of potential collision. In addition, by applying a least square method with forgetting factor, the alarm threshold of the system can be adjusted according to the driver’s characteristics. Two scenarios were simulated, including lane changing and an unsignalized intersection to verify the proposed collision warning approach. The results indicate that the proposed method is more effective than the traditional warning method based on time to collision. The proposed method also has ability of adaption to drivers of different styles.