A High Precision and Efficient Time-to-Collision Algorithm for Collision Warning Based V2X Applications

Time-to-Collision(TTC) algorithm is the key component for collision warning based Vehicle-to-Everything applications. In this paper, a GPS based intersection model is firstly introduced based on the relative position and distance between vehicles or traffic participants. This model avoids the extra computing time required to create a Cartesian coordinate system. Secondly, a novel rectangle model is proposed based on our GPS model in order to represent the shape of the vehicle more accurately. It can also be used to identify different collision situations at the intersection more precisely. Through which, the experiments show that TTC can be calculated more accurately than other shape models, and more effectively in reducing the consumption of calculation for non-collision situations.