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A Collision Warning Strategy for Connected Vehicles at Unsignalized Intersections Considering Driver Characteristics
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Runmin Wang1, 2, Hao Feng2, Haijin Fan2, Jiajun He2
Automobile Technology | 2025, (7) : 1 - 12
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Automobile Technology | 2025, (7): 1-12
• Special Topic on Obstacle Avoidance Strategies for Intelligent Driving Vehicles •
A Collision Warning Strategy for Connected Vehicles at Unsignalized Intersections Considering Driver Characteristics
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Runmin Wang1, 2, Hao Feng2, Haijin Fan2, Jiajun He2
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  • 1 Collaborative Innovation Center for Western Traffic Safety and Intelligent Control by Province and Ministry, Chang'an University, Xi'an 710064
  • 2 School of Information Engineering, Chang'an University, Xi'an 710064
Published: 2025-07-24 doi: 10.19620/j.cnki.1000-3703.20240752
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Addressing the limitations of current intersection collision warning systems, including non-line-of-sight issues and limited consideration of drivers' characteristics, this paper proposes a cooperative collision warning strategy for connected vehicles at intersections, incorporating driver traits. Firstly, driving behaviors at intersections are categorized into straight and turning, and a turning speed model tailored to driver characteristics is built using the InD dataset. Secondly, vehicle turning trajectory prediction is enhanced with a constant yaw rate model and Extended Kalman Filter, while collision risks are dynamically assessed using a dual-circle vehicle geometry model based on Time Exposed to Risk. Thirdly, a two-level warning strategy grounded in non-cooperative game theory is devised, considering driver heterogeneity and dynamic interactions in unsignalized conflicts. Finally, the strategy is validated through simulations and real-vehicle tests. Results indicate the strategy successfully detected all collisions with a 100% warning rate, reduced collisions by up to 100% among diverse drivers, and decreased accidents by 95.06% and kinetic energy by 52.71% even with aggressive drivers.

Unsignalized intersections  /  Connected vehicles  /  Collision warning  /  Drivers' characteristics  /  Non-cooperative game
Runmin Wang, Hao Feng, Haijin Fan, Jiajun He. A Collision Warning Strategy for Connected Vehicles at Unsignalized Intersections Considering Driver Characteristics[J]. Automobile Technology, 2025 , (7) : 1 -12 . DOI: 10.19620/j.cnki.1000-3703.20240752
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doi: 10.19620/j.cnki.1000-3703.20240752
  • Online Date：2025-10-28
  • Published：2025-07-24
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  • Revised：2024-09-29
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    1 Collaborative Innovation Center for Western Traffic Safety and Intelligent Control by Province and Ministry, Chang'an University, Xi'an 710064
    2 School of Information Engineering, Chang'an University, Xi'an 710064
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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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