Multiple vehicle-pedestrian collision accidents show both drivers and pedestrians are not aware of the danger, which increases risks. A potential solution is to alert the vehicles and the pedestrians with the aid of the Cooperative Vehicle Infrastructure System (CVIS). This study proposes a vehicle-pedestrian two-way collision alert system to alert drivers and pedestrians under CVIS environment, where real-time state information of traffic participants can be obtained. The states of vehicles and pedestrians are first predicted by using Kalman Filtering to offset the system time delay, followed by the collision point identification. The risk indicator Time to Collision is (TTC) then calculated with kinematic formulations. If the TTC is within the alert range, alerts will be sent. A system architecture is established to realize the algorithm. The proposed method can be applied dynamically to cater to time-varying conditions. Numerical studies and field tests validate the effectiveness of the proposed system.

Vehicle-pedestrian Collision Alert;Coordinated Vehicle Infrastructure Environment;Kalman filter;trajectory prediction