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

Figure 9

Scenario 1: collision probability curve (A curve) and collision probability curve (B curve) after two-stage braking. Scenario 2: when the vehicle turned right into the lane, it was difficult to find pedestrians who were crossing the road in the lane, so it was easy to cause serious traffic accidents. The parameters in this scenario were defined as follows: pt = 0.01 s, T = 5 s, L₁ = 8 m, W₁ = 2 m, and D = 1.5 m; the pedestrian’s coordinates were (8, 12). V₁, V₂, and R consist of 10,000 normally distributed random numbers, V₁ ∼ N (14, 1), V₂ ∼ N (1, 2), and R ∼ N (20, 1); V₂ represented the velocity of the pedestrian in this case. 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 10.