Performance Improvement of Collision Warning System on Curved Road Based on Intervehicle Communication

<table class="table-group" id="tab2"><tr><td><table class="table"><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td align="center" colspan="2">Degree of risk</td><td align="center" colspan="2">
                  Low<svg height="10.3559pt" id="M35" style="vertical-align:-0.04979992pt" version="1.1" viewbox="-0.0498162 -10.3061 48.5078 10.3559" width="48.5078pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M918 236V289H166L271 439L245 456C169 372 95 299 55 263C95 227 169 154 245 70L271 87L167 236H918Z" id="g54-147"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="990" vert-adv-y="990"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,8.506,0)"><path d="M588 236V289H72V236H588Z" id="g54-149"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="660" vert-adv-y="660"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,14.178,0)"><path d="M588 236V289H72V236H588Z" id="g54-149"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="660" vert-adv-y="660"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,19.85,0)"><path d="M588 236V289H72V236H588Z" id="g54-149"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="660" vert-adv-y="660"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,25.522,0)"><path d="M588 236V289H72V236H588Z" id="g54-149"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="660" vert-adv-y="660"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,31.194,0)"><path d="M588 236V289H72V236H588Z" id="g54-149"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="660" vert-adv-y="660"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,35.442,0)"><path d="M935 263C895 299 821 372 745 456L719 439L824 289H72V236H823L719 87L745 70C821 154 895 227 935 263Z" id="g54-148"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="990" vert-adv-y="990"></glyph.data></g></svg>high</td></tr><tr><td align="center" colspan="4"><hr/></td></tr><tr><td align="left"><svg height="11.914pt" id="M36" style="vertical-align:-3.16066pt" version="1.1" viewbox="-0.0498162 -8.75334 30.8225 11.914" width="30.8225pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M592 498C586 556 582 629 581 675H560C545 656 537 650 510 650H115C87 650 74 652 60 675H40C38 620 33 555 28 495H57C69 539 77 568 89 585C102 607 122 616 205 616H267V123C267 44 259 34 168 28V0H454V28C360 34 352 44 352 123V616H422C498 616 514 608 531 584C542 568 552 543 562 495L592 498Z" id="g190-85"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="617" vert-adv-y="617"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,8.373,0)"><path d="M592 498C586 556 582 629 581 675H560C545 656 537 650 510 650H115C87 650 74 652 60 675H40C38 620 33 555 28 495H57C69 539 77 568 89 585C102 607 122 616 205 616H267V123C267 44 259 34 168 28V0H454V28C360 34 352 44 352 123V616H422C498 616 514 608 531 584C542 568 552 543 562 495L592 498Z" id="g190-85"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="617" vert-adv-y="617"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,16.29,0)"><path d="M614 175C564 76 510 21 408 21C256 21 146 149 146 336C146 488 235 629 402 629C510 629 570 586 597 480L626 488C620 541 614 582 606 638C578 643 510 665 429 665C206 665 44 527 44 316C44 157 153 -15 402 -15C474 -15 558 5 586 11C604 45 629 119 643 165L614 175Z" id="g190-68"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="665" vert-adv-y="665"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,25.028,3.001)"><path d="M545 403C545 425 527 451 498 451C448 451 400 404 312 286L290 341C262 412 246 451 219 451C182 451 138 404 92 345L112 323C152 368 169 378 181 378C192 378 201 359 216 321L257 214C184 115 142 69 113 69C102 69 93 73 88 79S78 89 68 89C47 89 24 61 24 40C24 8 49 -12 75 -12C125 -12 175 31 271 175L312 64C330 15 357 -12 382 -12C421 -12 475 35 515 98L496 121C466 88 439 62 420 62C402 62 384 92 363 147L325 247C349 280 374 309 397 333C422 361 446 381 462 381C471 381 481 374 488 366C493 360 499 357 505 357C521 357 545 380 545 403Z" id="g50-121"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="569" vert-adv-y="569"></glyph.data></g></svg> [sec]</td><td align="center">≤2.7 </td><td align="center">≤1.7 </td><td align="center">≤0.8 </td></tr><tr><td align="center" colspan="4"><hr/></td></tr><tr><td align="left">Warning level</td><td align="center">1</td><td align="center">2</td><td align="center">3</td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Definition of warning level according to changes in <svg height="11.914pt" id="M34" style="vertical-align:-3.16066pt" version="1.1" viewbox="-0.0498162 -8.75334 30.8225 11.914" width="30.8225pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M592 498C586 556 582 629 581 675H560C545 656 537 650 510 650H115C87 650 74 652 60 675H40C38 620 33 555 28 495H57C69 539 77 568 89 585C102 607 122 616 205 616H267V123C267 44 259 34 168 28V0H454V28C360 34 352 44 352 123V616H422C498 616 514 608 531 584C542 568 552 543 562 495L592 498Z" id="g190-85"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="617" vert-adv-y="617"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,8.373,0)"><path d="M592 498C586 556 582 629 581 675H560C545 656 537 650 510 650H115C87 650 74 652 60 675H40C38 620 33 555 28 495H57C69 539 77 568 89 585C102 607 122 616 205 616H267V123C267 44 259 34 168 28V0H454V28C360 34 352 44 352 123V616H422C498 616 514 608 531 584C542 568 552 543 562 495L592 498Z" id="g190-85"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="617" vert-adv-y="617"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,16.29,0)"><path d="M614 175C564 76 510 21 408 21C256 21 146 149 146 336C146 488 235 629 402 629C510 629 570 586 597 480L626 488C620 541 614 582 606 638C578 643 510 665 429 665C206 665 44 527 44 316C44 157 153 -15 402 -15C474 -15 558 5 586 11C604 45 629 119 643 165L614 175Z" id="g190-68"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="665" vert-adv-y="665"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,25.028,3.001)"><path d="M545 403C545 425 527 451 498 451C448 451 400 404 312 286L290 341C262 412 246 451 219 451C182 451 138 404 92 345L112 323C152 368 169 378 181 378C192 378 201 359 216 321L257 214C184 115 142 69 113 69C102 69 93 73 88 79S78 89 68 89C47 89 24 61 24 40C24 8 49 -12 75 -12C125 -12 175 31 271 175L312 64C330 15 357 -12 382 -12C421 -12 475 35 515 98L496 121C466 88 439 62 420 62C402 62 384 92 363 147L325 247C349 280 374 309 397 333C422 361 446 381 462 381C471 381 481 374 488 366C493 360 499 357 505 357C521 357 545 380 545 403Z" id="g50-121"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="569" vert-adv-y="569"></glyph.data></g></svg>.

Mathematical Problems in Engineering

tab2

Table 2

Table 2: Performance Improvement of Collision Warning System on Curved Road Based on Intervehicle Communication 