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A Clothoid Curve-Based Intersection Collision Warning Scheme in Internet of Vehicles


 One of the most important problems in traffic safety is providing effective collision warnings in intersection areas. In this paper, we propose a Clothoid Curve-based Intersection Collision Warning scheme (CICW) in the Internet of Vehicles. In CICW, we first present a clothoid curve-based vehicle trajectory prediction model. In this model, vehicles can establish the trajectory prediction equations by themselves. Each vehicle solves the equations based on its internal state information, electronic map, GPS data and neighbour vehicles’ state information derived from periodical beacons. The vehicle then predicates the crossing points of the predicted trajectory between itself and the neighbour vehicles. Based on the reference points, it further obtains the earliest possible collision location and then issues a warning. Extensive simulation results show that the performance of the proposed scheme achieves higher collision warning accuracy and a lower error warning ratio compared to existing schemes.