Development of a Residential Road Collision Warning Service Based on Risk Assessment

Figure 4

Trajectory prediction method: (a) trajectory classification—straight and curved trajectories are classified based on whether the angle of the previous trajectories is smaller than the angle predetermined. (b) Trajectory predictions—vehicle and pedestrian trajectories are predicted as rectangles and ellipses, considering the actual vehicle size and stochastic pedestrian trajectories, respectively.

(a)

(b)