Active Sensing on a Bicycle for Simultaneous Search and Tracking of Multiple Rear Vehicles

This paper uses an inexpensive single-beam laser sensor mounted on a rotationally controlled platform to simultaneously search for and track multiple vehicles that are behind a bicycle. Vehicles in the bicycle's lane and in the adjacent left lane are both considered. The tasks involved are searching both lanes to detect the presence of vehicles, tracking a vehicle's trajectory once it has been detected, and switching between searching and tracking as needed. A rigorous search algorithm that minimizes the number of sensor rotational angles needed to search the entire region of interest is developed. An error covariance matrix approach is utilized to switch between tracking vehicles and searching the region of interest. Detailed simulation results are presented to show how the developed system handles the absence and presence of vehicles in the two lanes and handles different types of lane change maneuvers while tracking multiple vehicles. Since the developed system uses an inexpensive lightweight sensor that is suitable for on-bicycle implementation, it can be used to detect the danger of a collision and provide a corresponding horn-like audio alert to the motorist.

• Record URL:
  • https://doi.org/10.1109/TVT.2019.2911572
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/00189545
• Supplemental Notes:
  • Copyright © 2019, IEEE.
• Authors:
  • Jeon, Woongsun
  • Rajamani, Rajesh
• Publication Date: 2019-6

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 5295-5308
• Serial:
  • IEEE Transactions on Vehicular Technology
  • Volume: 68
  • Issue Number: 6
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • ISSN: 0018-9545
  • Serial URL: http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=25

Subject/Index Terms

• TRT Terms: Bicycles; Bicycling; Highway safety; Laser beams; Measurement; Radar; Sensors; Tracking systems; Vehicle detectors
• Subject Areas: Highways; Pedestrians and Bicyclists; Safety and Human Factors; Vehicles and Equipment;

Filing Info

• Accession Number: 01722588
• Record Type: Publication
• Files: TRIS
• Created Date: Nov 15 2019 1:45PM