Application Of Multi-Sensor Distributed Detection In ITS

With the development of the social economy,the number of vehicles increases rapidly.In the one hand,it makes our life more convenient.In the other hand,it brings some traffic problems.Because of the development of science technology,Intelligent Transport System(ITS)emerges and solves these problems in some degree.As an important part of ITS,Collision Avoidance System(CAS)focuses on how to detect and avoid collision.Traditional methods have some drawbacks in detection of preceding vehicle.Traditional methods are likely to cause false positives in strong noise environment.And traditional methods do not consider spatially and temporally correlation of signal enough when multiple sensors are used and cause false negatives.In this paper,we propose a collision avoidance scheme based on multi-sensor detection and signal detection technology.Our collision avoidance scheme consists of signal detection model,vehicle kinematics(VK)model and decision device.The task of signal detection model is detecting preceding vehicle.VK model's task is calculating safe distance.Decision device offers the solution of braking.We compare some detectors in different setting and adopt GLRT in the frequency domain as detector in our signal detection model in the end.GLRT could achieve higher detection probability than other detectors under strong noise because it considers both temporal and spatial correlation of signals.These works ensure our scheme could detect preceding vehicle early.We define two safe distances in different braking scenes and derivate formula of safe distance under the consideration of both safety and comfort.In slow braking scene,driver brakes with a low deceleration for comfort.In emergency braking scene,the vehicle braked by Automatic Train Operation System with maximum braking-force for safe.We propose a braking scheme based on comparison between current headway and safe distance of decision device.Decision device makes decision of braking scheme and guides driver to avoid collision.In this paper,we design many cases to test our collision avoidance scheme.The results show that our scheme could protect vehicle from avoidance in most cases under strong noise.Because of the good detection performance of GLRT in frequency domain,the driver brakes with low deceleration over half cases.Our scheme could help drivers to avoid collisions and provide good driving experience too.