This article introduces a novel Frontal Collision Warning system for motorcycles, which has been developed in the SAFERIDER project of the 7th EU FP. The Frontal Collision Warning function (FCW) described here is based on a holistic approach, which localizes the motorcycle in the road geometry, estimates the motorcycle dynamics state and rider input and senses obstacles in the motorcycle lane. The warning strategy is based on the correction of longitudinal dynamics as suggested by an optimal previewed manoeuvre (reference manoeuvre), which is continuously computed from the actual state of the vehicle. The reference manoeuvre accounts for the riding styles and in normal driving conditions fairly matches with the rider’s one. However, when the rider misses to spot a front obstacle or does not brake enough a large difference between actual and ideal acceleration is generated therefore the rider is warned to decelerate or brake. As soon as the correct value of deceleration is achieved the warning disappears improving the system acceptability. Warnings are given to the rider via a proper combination of haptic, visual and audio signals thanks to specific HMI device, which include an haptic handle among, a vibrating glove, a smart helmet, and a visual display. (Author/publisher) For this paper, other papers and posters presented at this Symposium see http://bicycle.tudelft.nl/bmd2010/
Abstract