Cooperative Forward Collision Warning System Based on LTE-V Communication

The cooperative forward collision warning (FCW) system based on LTE-V communication has great potential to improve driving safety. This paper firstly proposes a novel coordinate transformation method to convert longitude and latitude in the LTE-V basic safety message (BSM) into XY coordinates. Second, we establish a forward collision warning algorithm using the BSM. The algorithm uses the least square method to fit the historical trajectory and to obtain the vehicle trajectory equation. Then, the vehicle trajectory equation is used to determine whether the remote vehicle is in the same lane as the host vehicle and their positional relationship. An improved collision avoidance model (ICAM) is proposed to solve the traditional collision avoidance model (TCAM) risk underestimation problem. Finally, the simulation results show that our system can satisfy the requirement of forward collision warning and the ICAM performs safer than TCAM.