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Existing driver-assistance systems often deliver late or inaccurate alerts when a vehicle cuts in suddenly from an adjacent lane. To address this issue, the paper develops a collision-warning model that detects the lane-change intention of the lead vehicle. The vehicle-vehicle communication is utilized to send that intention to the following vehicle, which then predicts the cut-in path and performs collision detection. The collision time TTC-S is proposed, the avoidance time TTA is re-examined, and a tiered warning strategy is designed. In order to verify the effectiveness of the collision warning system, a joint simulation platform is built based on Simulink and PreScan. The results show that the collision-warning model achieves an average true-positive rate of 90.32%, outperforming the Mazda model by 8.44% and the traditional TTC model by 11.66%. The system also provides earlier alerts, extending the average warning lead time by 1.42 s and 1.9 s, respectively, which provides a larger safety margin.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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