Study on a Right-Turning Intelligent Vehicle Collision Warning and Avoidance Algorithm Based on Monte Carlo Simulation

Figure 11

Scenario 3: collision probability curve (A curve) and collision probability curve (B curve) after two-stage braking. Scenario 4: the parameters in this scenario were defined as follows: pt = 0.01 s, T = 5 s, L1 = 8 m, W1 = 2 m, L2 = 8 m, and W2 = 2 m; the second vehicle’s coordinates were (9, 12). V₁, V₂, and R consist of 10000 normal distribution random numbers, V₁ ∼ N (12, 1), V₂ ∼ N (3, 1), and R ∼ N (20, 1). We used the two-stage braking strategy; the specific parameters were as follows: a_max = 6 m/s², a_min = 3 m/s², and d = 0.3 s. The collision probability curve (A curve) and the collision probability curve (B curve) after two-stage braking are shown in Figure 12.