Stopping Accidents before They Happen: Perceiving Lane-Level Moving Vehicle Danger Regions to Warn Surrounding Drivers and Pedestrians

Algorithm 1

The computation of the danger areas.

Input: , , // is the edge cell for computation

Output:

    (1) FOR IN DO

    (2) IF

    (3) // To get the mapping edge cell set of :

    (4)

    (5) FOR IN DO

    (6)

   // Computing the distance

    (7)

    (8)

    (9)

    (10)

    (11) IF () DO

    (12) Put into

    (13) END IF

    (14) END FOR

    (15) END IF

    (16) END FOR

    (17) RETURN