Measuring the Motion of Vulnerable Road Users Relative to Moving HGVs

This paper focuses on measuring the motion of a cyclist moving adjacent to a heavy goods vehicle (HGV), from the detections of ultrasonic sensors installed along the side of the vehicle. The measurements are used in a prototype collision avoidance system that predicts the future relative motion and assesses the likelihood of a collision. An array of ultrasonic sensors is adopted to cover the near side of the HGV, where most of fatal collisions with cyclists occur. A method combining quadratic programming and Kalman filtering is developed in this paper for recovering the bearing angles of the cyclist from the detected distances provided by off-the-shelf ultrasonic sensors. The algorithms are developed for use in real time and practical constraints are considered. The simulation and testing results prove the effectiveness of the proposed method for a reasonable range of the speed differential between the cyclist and the HGV.China Scholarship Council and Cambridge Trusts Cambridge Vehicle Dynamics Consortiu

Measuring the Motion of Vulnerable Road Users Relative to Moving HGVs

This paper focuses on measuring the motion of a cyclist moving adjacent to a heavy goods vehicle (HGV), from the detections of ultrasonic sensors installed along the side of the vehicle. The measurements are used in a prototype collision avoidance system that predicts the future relative motion and assesses the likelihood of a collision. An array of ultrasonic sensors is adopted to cover the near side of the HGV, where most of fatal collisions with cyclists occur. A method combining quadratic programming and Kalman filtering is developed in this paper for recovering the bearing angles of the cyclist from the detected distances provided by off-the-shelf ultrasonic sensors. The algorithms are developed for use in real time and practical constraints are considered. The simulation and testing results prove the effectiveness of the proposed method for a reasonable range of the speed differential between the cyclist and the HGV