Intersection management is one of the most challenging problems within the transport system. Traffic light-based methods have been efficient but are not able to deal with the growing mobility and social challenges. On the other hand, the advancements of automation and communications have enabled cooperative intersection management, where road users, infrastructure, and traffic control centers are able to communicate and coordinate the traffic safely and efficiently. Major techniques and solutions for cooperative intersections are surveyed in this paper for both signalized and nonsignalized intersections, whereas focuses are put on the latter. Cooperative methods, including time slots and space reservation, trajectory planning, and virtual traffic lights, are discussed in detail. Vehicle collision warning and avoidance methods are discussed to deal with uncertainties. Concerning vulnerable road users, pedestrian collision avoidance methods are discussed. In addition, an introduction to major projects related to cooperative intersection management is presented. A further discussion of the presented works is given with highlights of future research topics. This paper serves as a comprehensive survey of the field, aiming at stimulating new methods and accelerating the advancement of automated and cooperative intersections.

Cooperative Intersection Management: A Survey

Vehicle and pedestrian collisions often result in fatality to the vulnerable road users, indicating a strong need of technologies to protect such vulnerable road users. Wireless communications have potential to support road safety by enabling road users to exchange information. In contrast to vehicle to vehicle (V2V) and vehicle to infrastructure (V2I) communications for avoidance of inter-vehicle collisions, very limited efforts are made on communication mechanisms for pedestrian safety. This paper addresses the issue in a concrete way. We first formulate the requirement of the minimum information exchange distance for providing road users to have the necessary amount of time to perceive the situation and react. We then report our field tests and measurement based analysis to investigate if a Wi-Fi system can satisfy the application requirement. We also introduce a pedestrian protection application, V2ProVu, which provides the functionalities of the Wi-Fi communications, risk calculation, and hazard alarming. Our study discloses several useful insights including 1) information exchange for a velocity of 80 km/h has to be made before vehicle to pedestrian (V2P) distance is below 72 meters and 2) while this requirement is not too hard for radio communications technologies, the V2P communication range is greatly reduced if the signal is blocked by a human body.

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Vehicle to pedestrian communications for protection of vulnerable road users

The use of smartphones in a road context by drivers and Vulnerable Road Users (VRU) is rapidly increasing. To reduce the risks related to the influence of smartphone usage in a situation where traffic needs to be considered, a collision prediction algorithm is proposed based on Pedestrian to Vehicle (P2V) and Vehicle to Pedestrian (V2P) communication technologies, which increases the visual situational awareness of VRU regarding the nearby location of both autonomous and manually-controlled vehicles in a user-friendly form. The proposed application broadcasts the device's position to the vehicles nearby, and reciprocally, the vehicles nearby broadcast their position to the device in use, supporting pedestrians and other VRU to minimize potential dangers and increase the acceptance of autonomous vehicles on our roads. Results regarding the evaluation of the proposed approach showed a good performance and high detection rate, as well as a high user satisfaction derived from the interaction with the system.

P2V and V2P communication for Pedestrian warning on the basis of Autonomous Vehicles

In the last few years, increasing attention has been provided to research Vehicle-to-Pedestrian (V2P) communication systems. These V2P systems serve different purposes (safety or convenience) and cater to different Vulnerable Road User (VRU) groups. Also, these V2P systems employ different communication technologies, and use different mechanisms to interact with the users. An effective V2P system also needs to consider varying characteristics of different VRUs. These various elements may be considered as design parameters of the V2P system. In this paper, we discuss such elements and propose a design framework for the V2P system based on them. We also provide an extensive survey of existing V2P efforts for safety and convenience applications and their design considerations. We perform a case study that compares the different approaches of V2P safety system for different VRU groups under different pre-crash scenarios. Finally, we discuss a few technological challenges in integration of VRUs into V2X systems.

https://www.mdpi.com/1424-8220/19/2/358/pdf

Vehicle-to-Pedestrian Communication for Vulnerable Road Users: Survey, Design Considerations, and Challenges

Traffic accidents involving pedestrians or cyclists cause thousands of fatalities and serious injuries every year. In this article, we present an innovative approach for a collision avoidance system that seeks to reduce these accidents. We also discuss the different architectural approaches utilizing ad hoc and/or cellular technologies and different processing setups and present a physical analysis of the system time available between detection, warning, and reaction to give an overview of the time constraint.

CAR-2-X and Pedestrian Safety

For the realization of a safe road traffic environment a wireless communication system which makes an information network between pedestrians and vehicles has been needed. A prototype of pedestrian-to-vehicle communication system was developed by using a cellular phone and a car navigation system equipped with GPS and wireless communication function. By interoperation of 3G wireless network and wireless LAN, it was possible to communicate in a wide area and with little delay time in a local area. The system can exchange the necessary information between pedestrians and vehicles, inform of the location of the ones that have an accident risk, and give an alarm by employing the developed algorithm for estimating the collision risk between each pedestrian and vehicle. The effectiveness of the system was shown by simulation of traffic situations.

Prototype of pedestrian-to-vehicle communication system for the prevention of pedestrian accidents using both 3G wireless and WLAN communication

A prototype of pedestrian-to-vehicle communication system which uses 3G wireless network in combination with wireless LAN was developed by using cellular phones and car navigation systems. The system can exchange the information between pedestrians and vehicles, indicate the location of the ones that have an accident risk, and call for attention by employing the developed algorithm for estimating the collision risk between each pedestrian and vehicle. The effectiveness of the system was examined by a sensory test method.

T. Hashimoto

Papers

Prototype of pedestrian-to-vehicle communication system for the prevention of pedestrian accidents using both 3G wireless and WLAN communication

Pedestrian-to-vehicle communication system for improving road safety using cellular phones