Collision detection system design using a multi-layer laser scanner for collision mitigation

Collision detection plays a key role in collision mitigation systems. The malfunction of a collision mitigation system can result in a dangerous or unexpected situation for the driver and passengers. In order to prevent this situation, reliable collision detection algorithms are essential in terms of the collision time, the overlap and the collision decision. This study focuses on the reliable determination of the time to collision and the frontal overlap between the ego vehicle and the objects. The path prediction method using information on the ego vehicle is proposed to improve the accuracies of the time to collision and the frontal overlap calculations. The proposed algorithm is developed on the basis of a multi-layer laser scanner. The procedure of collision detection includes three steps. The first step is to select a high-risk object among multiple objects, the second step is to judge the time to collision and the frontal overlap to the high-risk object and, finally, the third step is to decide whether a crash is imminent or not. The performance of the proposed detection algorithm is validated in simulations and experiments.