A vehicular collision warning algorithm based on the time-to-collision estimation under connected environment

Considering the traffic safety in the scenario of arterial road with on-ramp, this study proposes a time-to-collision (TTC) based vehicular collision warning algorithm under connected environment. In particular, the information of vehicles of interest, i.e., position, traveling direction and velocity, is assumed to be collected by the roadside device via the vehicle-to-infrastructure (V2I) communications. Then, the TTC of a pair of vehicles in arterial road and on-ramp is estimated based on the position, traveling direction and velocity difference of that pair of vehicles. Consequently, the TTC warning messages can be disseminated to vehicles within the communication range of the roadside device, so as to reduce the risk of collision. The proposed algorithm can be used in the cooperative vehicle infrastructure systems (CVIS) to improve the traffic safety.