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

Figure 10

Scenario 2: collision probability curve (A curve) and collision probability curve (B curve) after two-stage braking. Scenario 3: because the driver had blind spots in vision, it is possible for the right-turning vehicle to collide with pedestrians crossing the road. 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 (3, 9). V₁, V₂, and R consist of 10,000 normally distributed random numbers, V₁ ∼ N (10, 1), V₂ ∼ N (1, 0.7), 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 11.