Field Testing of a Cyclist Collision Avoidance System for Heavy Goods Vehicles

This research focused on preventing collisions between cyclists and heavy goods vehicles (HGVs). A collision avoidance system, designed to avoid side-to-side collisions between HGVs and cyclists, is proposed. The cyclist’s motion relative to the HGV is measured with an array of ultrasonic sensors. The detected distances from ultrasonic sensors are processed in real time to construct a smooth trajectory for the cyclist. The controller assumes constant acceleration and constant yaw rate for both the HGV and the cyclist and extrapolates the relative motion forward in time. The HGVs' brakes are engaged if a collision is predicted. A prototype system was built and fitted onto a test truck. The proposed collision avoidance system was tested in real time and proved to be effective within certain speed ranges.The authors thank the support of the Cambridge Vehicle Dynamics Consortium, whose member at the time of writing are: Anthony Best Dynamics, Camcon, Cambridge University, Denby Transport, Firestone Goodyear, Haldex, Laing O’Rourke, MIRA, SDC Trailers, SIMPACK, Tridec, Tinsley Bridge, Wincanton and Volvo Trucks. Special thanks go to Anthony Best Dynamics and Laing O'Rourke for proving essential testing equipment. Thanks also go to Dr Richard Roebuck, Dr Leon Henderson and Ms Amy Rimmer for their assistance with the testing. The authors also would like to thanks China Scholarship Council and Cambridge Trusts for their contribution to the research.This is the author accepted manuscript. The final version is available from IEEE via http://dx.doi.org/10.1109/TVT.2016.253880