Showing papers on "Collision avoidance system published in 2009"

Radar based collision detection developments on USV ROAZ II

Abstract: This work presents the integration of obstacle detection and analysis capabilities in a coherent and advanced C&C framework allowing mixed-mode control in unmanned surface systems. The collision avoidance work has been successfully integrated in an operational autonomous surface vehicle and demonstrated in real operational conditions. We present the collision avoidance system, the ROAZ autonomous surface vehicle and the results obtained at sea tests. Limitations of current COTS radar systems are also discussed and further research directions are proposed towards the development and integration of advanced collision avoidance systems taking in account the different requirements in unmanned surface vehicles

Mining GPS data for extracting significant places

Abstract: This paper addresses the problem of safety in mining applications. It presents new metrics that can be used to determine dangerous situations during mine operation in real time. It also presents a fast and robust algorithm for extracting significant places from information logged by a state-of-the-art collision avoidance system. Determining significant places provides valuable context information in a variety of applications such as map building, vehicle tracking and user assistance. In our case, we are interested in obtaining context information as a preliminary step towards improving mining safety. The algorithm presented here is validated with experimental data obtained from a fleet of haulage vehicles operating in various open pit mines.

Using image sensor and tracking filter time-to-go to avoid mid-air collisions

Abstract: A collision avoidance system for deciding whether an autonomous avoidance maneuver should be performed in order to avoid a mid-air collision between a host aerial vehicle equipped with the system and an intruding aerial vehicle. At least one electro-optical sensor captures consecutive images of an intruding vehicle such that the vehicle manifests itself as a target point in the images. An image processor estimates the azimuth angle, elevation angle and a first time-to-collision estimate of the time to collision between the host vehicle and the intruding vehicle. The first time-to-collision estimate is estimated based on scale change in the target point between at least two of said consecutive images. A tracking filter is arranged to estimate a second time-to-collision estimate using the azimuth angle, the elevation angle and the first time-to-collision estimate estimated by the image processor as input parameters. A collision avoidance module is arranged to decide whether or not an avoidance maneuver should be performed based on any of at least one parameter, of which at least one is indicative of said second time-to-collision estimate.

Collision avoidance system and method

Abstract: Systems and methods for collision avoidance. The systems and methods include a global positioning system (GPS) device, motion sensors, and a geographic information system (GIS) device.

Collision avoidance system and method

Abstract: Apparatus and methods for assisting collision avoidance between a vehicle and an object include receiving an acoustic signal from the object using microphones supported by the vehicle, and determining a location of the object using the acoustic signal and an acoustic model of the environment, the environment including a structure that blocks a direct view of the object from the vehicle.

Vehicle Collision Avoidance System and Method

Abstract: A vehicle collision avoidance system is implemented in a host vehicle. A wireless communication module in the host vehicles wirelessly broadcasts vehicle information packages of the host vehicle and receives external vehicle information packages from other neighboring vehicles. Based on the received vehicle information packages, a collision avoidance process is performed. The process has steps of mapping coordinates system, categorizing collision zones, determining whether a possible collision position exists, calculating a collision time and outputting warning messages. The estimations of the possible collision position and the collision time are not affected by the positions of the neighboring vehicles. Therefore, the neighboring vehicles approaching the host vehicle from different direction are effectively monitored.

Cooperative Intersection Collision Avoidance System for Violations (CICAS-V) for Prevention of Violation-Based Intersection Crashes

Abstract: Intersection crashes account for 1.72 million crashes per year in the United States. In 2004 stop-sign and traffic signal violations accounted for approximately 302,000 crashes resulting in 163,000 functional life-years lost and $7.9 billion of economic loss. The objective of the Cooperative Intersection Collision Avoidance System for Violations (CICAS-V) project was to design, develop, and test a prototype system to prevent crashes by predicting stop-sign and signal-controlled intersection violations and warning the violating driver. The intersection portion of the system consists of a signal controller capable of exporting signal phase and timing information, a local global positioning system (GPS), and Roadside Equipment (RSE) that includes computing, memory, and Dedicated Short Range Communication (DSRC) radio. The vehicle portion of the system includes onboard equipment for computing and 5.9 GHz DSRC radio connected to the vehicle controller area network (CAN), positioning, and the Driver-Vehicle Interface (DVI). The intersection sends the signal phase and timing, positioning corrections, and a small map (< 1 kb) to the vehicle. The vehicle receives this information and, based on speed and distance to the stop location, predicts whether or not the driver will violate. If a violation is predicted, the driver is warned via a visual/auditory/haptic brake pulse DVI. The system was installed in the vehicles of five Original Equipment Manufacturers (OEMs): Daimler, Ford, General Motors, Honda, and Toyota. Intersections were equipped in California, Michigan, and Virginia. Tests of the system included both on-road and test-track evaluations. System performance was excellent and recommendations were made for continuing with a large field operational test (FOT). The system can be installed at any intersection with sufficient positioning coverage and in any vehicle with an electronic stability system. This system constitutes the first FOT-ready Vehicle Infrastructure Integration safety application. The full text of this paper may be found at: http://www-nrd.nhtsa.dot.gov/pdf/esv/esv21/09-0118.pdf For the covering abstract see ITRD E145407.

Multi-vehicles interaction graph model for cooperative collision warning system

Abstract: Cooperative collision warning system for road vehicles, enabled by recent advances in positioning systems and wireless communication technologies, can potentially reduce traffic accident significantly. To improve the system, we propose a graph model to represent interactions between multiple road vehicles in a specific region and at a specific time. Given a list of vehicles in vicinity, we can generate the interaction graph using several rules that consider vehicle's properties such as position, speed, heading, etc. Safety applications can use the model to improve emergency warning accuracy and optimize wireless channel usage. The model allows us to develop some congestion control strategies for an efficient multi-hop broadcast protocol.

Collision avoidance system for vehicles

Abstract: A collision avoidance system uses map information to manage power. The collision avoidance system operates at a first communications range when a vehicle is determined, based upon the map information, to be in a relatively low collision risk scenario. When the collision avoidance system determines that the vehicle is approaching a situation of increased collision risk, such as an intersection, the communications is increased. The communications range may be increased by increasing the power to the antenna system or using antenna diversity techniques.

A Physical Analysis of an Accident Scenario between Cars and Pedestrians

Abstract: Every year still thousands of people are injured or killed in accidents with cars, trucks and busses. Many of these people are pedestrians or cyclists. Several research groups work on solutions to avoid accidents between cars and pedestrians with the help of different technologies. In this paper we present an innovative approach for a collision avoidance system which should be able to tackle these accidents. To understand the potential of this approach, we will present a physical analysis of the system time available between detection, warning and reaction. We also discuss different architectures of our approach utilizing ad-hoc and/or cellular technologies. Additionally, we present experimental results of connection establishment and ping response times of these wireless technologies.

Straight projection conflict detection and cooperative avoidance for autonomous unmanned aircraft systems

Abstract: Flying multiple unmanned aircraft in the same airspace and instances or operating these aircraft in commercial airspace increases the likelihood of collisions. To facilitate the continuing growth of air traffic and the request for more operational flexibility a more advanced form of collision avoidance will be required. This paper, addresses the problem of solving conflicts raised between unmanned aircraft that are assumed to fly in same airspace and instances. In this framework, a new functional architecture for unmanned aircraft collision avoidance system is developed together with an algorithm utilized for deciding the collision criteria upon nominal state projection in the near future and sending the avoidance to the flight onboard computer based on heading and speed changes maneuvering. The collision avoidance system will allow each aircraft to negotiate with each another to determine a safe and acceptable solution when potential conflict is detected. The proposed approach uses cooperative, peer to peer negotiation technique in order to efficiently resolve air traffic conflicts.

TCAS Multiple Threat Encounter Analysis

Abstract: The recent development of high-fidelity U.S. airspace encounter models at Lincoln Laboratory has motivated a simulation study of the Traffic Alert and Collision Avoidance System (TCAS) multiple threat logic. We observed from archived radar data that while rarer than single-threat encounters, multiple threat encounters occur more frequently than originally expected. The multi-threat logic has not been analyzed in the past using encounter models. To generate multi-threat encounters, this report extends the statistical techniques used to develop pairwise correlated encounters. We generated and simulated a large number of multi-threat encounters using the TCAS logic imprlementad in Lincoln Laboratory's Collision Avoidance System Safety Assessment Tool.

Mitigation accident risk in powered two Wheelers domain: Improving effectiveness of human machine interface collision avoidance system in two wheelers

Abstract: This paper will present new concept of HMI for Advanced Driving Assistance System, following major guidelines in Ergonomic field. The major aim is to evaluate the effectiveness of information provided, creating an user-friendly and immediate interface. The report contains the results of the study conducted on 20 people in PTW domain by University of Modena e Reggio Emilia - HMI Group, in order to evaluate the relation between HMI channels (audio, video or both) and the grade of understanding of information that system would like to communicate to the rider. Experiment and data analyses contains important conclusions on PTW domain regarding warning understanding with audio and/or visual feedback.

Collision avoidance system and a method for determining an escape manoeuvre trajectory for collision avoidance

Abstract: A collision avoidance system including a receiver configured to receive navigational data regarding intruding aerial vehicle and own aircraft. Storage is configured to store a plurality of predefined escape trajectories. A processor is configured to compare at least a subset of the predefined escape trajectories with a presumed trajectory of the intruding aerial vehicle and to select one of the predefined escape trajectories based on the comparison. The predefined escape trajectories are pre-simulated, wherein each escape trajectory is associated to a set of navigational data and to an escape maneuver direction.

System prototype for vehicle collision avoidance using wireless sensors embedded at intersections

Abstract: This paper presents research results regarding a vehicle collision avoidance system that uses a wireless sensor platform and communication based on 802.15.4 standard. The system is comprised of two components: monitoring stationary nodes mounted on the road and mobile nodes installed in vehicles. Signal strength and link quality indicators are evaluated to assist in the sequence identification of vehicles as they approach each other at an intersection. The study shows the feasibility of implementing 802.15.4 standard in wireless sensor network communication to act as a time-critical vehicle warning system that can be used for safety application.

Mechanical time dilation algorithm for collision avoidance system

Abstract: A system and method for providing mechanical time dilation by pre-braking a vehicle in the event there is a collision threat so as to reduce or eliminate the need for full automatic braking if the collision becomes imminent. The system calculates a time dilation deceleration to either maintain a time to collision at a previous value before the calculation or at a predetermined value. The system also estimates a projected closing speed of the vehicle to the object at a distance that would require full automatic braking to prevent a collision. The system then determines whether the time dilation deceleration is greater than a decelerating threshold and, if so, provides automatic vehicle braking at the threshold until the vehicle comes to a full stop. If the time dilation deceleration is not greater than the threshold, then the system provides automatic braking to decelerate the vehicle at the time dilation deceleration.

Fuzzy logic based integrated control of Anti-lock Brake System and Collision Avoidance System using CAN for electric vehicles

Abstract: This paper investigates the integrated control of Anti-lock Brake System (ABS) and Collision Avoidance System (CAS) in electric vehicle. Fuzzy logic techniques are applied for integral control of two subsystems. Control algorithm is implemented and tested in a prototype electric vehicle in laboratory environment using freescale HCS12 microcontroller. A high level network protocol CAN is applied to integrate all sensors, ABS and CAS. The results show that integrated control of ABS and CAS maintains the safe distance from obstacle without sacrificing the performance of either system.

Extended Kalman filter based pedestrian localization for collision avoidance

Abstract: The practical driving safety assistant system should be able to estimate the possibility of pedestrian-vehicle collision, which includes pedestrian detection and localization as well as collision prediction. Until now, many works concentrated on pedestrian detection and achieved some progress. For collision prediction, it is essential to locate the pedestrian precisely; however, the localization problem still needs to be further studied. At present, most researches adopted expensive equipments (e.g. millimeter wave radar and laser scanner) to run away from the difficulties; and many others used multi-cameras to solve this problem. In our previous work, we proposed a low-cost pedestrian detection system with a single optical camera, which performanced well in pedestrian detection. Basing on the detection system, an extended Kalman filter based pedestrian localization model/methodology is proposed in this paper. The localization model sets up proper relation between state vector and observation vector and chooses proper initial state for the Kalman filter using perspective projection principle, which guarantees the proposed filter to estimate the location of pedestrian quickly and actually. The experimental results have validated that the accuracy of the proposed localization model/methodology may meet the requirements of a practical collision avoidance system.

UAS Collision Avoidance Algorithm Minimizing Impact on Route Surveillance

Abstract: A collision avoidance algorithm is developed and implemented that is applicable to many different unmanned aerial systems ranging from a single platform with the ability to perform all collision avoidance functions independently to multiple vehicles performing functions as a cooperative group with collision avoidance commands computed at a ground station. The algorithm leverages advances in several theoretical fields including robotics, homing guidance, and airspace management, and considers several approaches to conflict detection and resolution including the collision cone approach. The collision avoidance system is exercised and tested using operational hardware and platforms. Novel developments using an aggregated collision cone approach allows each unmanned aircraft to detect and avoid collisions with two or more other aircraft simultaneously. The collision avoidance system is implemented using a miniature unmanned aircraft with an onboard autopilot. Various simulation and flight test cases are used to demonstrate the algorithm’s robustness to different collision encounters at various engagement angles. The flight test results are compared with ideal, software-in-the-loop, and hardware-in-the-loop tests. The results presented are the first known flight tests of a global, three-dimensional, geometric collision avoidance system on an unmanned aircraft system.

Test evaluation apparatus of collision avoidance system

Abstract: A test evaluation apparatus of collision avoidance system is provided to improve safety and spatial utilization of test environment by providing virtual environment information about driving- state. A test vehicle(100) is driven by remotely receiving driving condition according to virtual environment from outside. A dynamometer(102) in which the test vehicle is settled tests speed and driving state of the test vehicle with the same state as the test vehicle actually drives on the road. An operation base is positioned at the front of the test vehicle and drives with no driver in order to calculate the relative velocity of the test vehicle. A virtual controller(106) processes driving condition of the test vehicle as the virtual information and provides the driving condition for the test vehicle and processes the driving state information of the test vehicle as the virtual information. Virtual drive environment(108) implements the virtual driving state information of the test vehicle processed at the virtual controller as the visualization information.

Intersection collision avoidance using Wireless sensor network

Abstract: In this study, we propose intersection collision avoidance system in preventing traffic crashes at typical urban intersections. The proposed intersection crash prevention system would display the crash warning messages to the drivers when crash-prone conditions are detected through the sensor system installed along intersection approaches. It would further change the traffic signal setting in real-time, if necessary. To support the service, the intersection collision avoidance system introduces reliable MAC and accurate speed measurement mechanism.

Trajectory prediction for low-cost collision avoidance systems

Abstract: In this paper, a novel algorithm for estimation, filtering and prediction of glider and light aircraft trajectories based on GPS measurements is introduced. The algorithm uses Interacting Multiple Model (IMM) filters to detect specific maneuvers such as turning, circling or straight flight. An integrated wind model allows for quick estimation of local wind fields and helps achieving consistent prediction quality in windy conditions. The algorithm is shown to perform well compared to algorithms currently used in the FLARM® collision avoidance system, particularly in windy conditions.

Airspace Encounter Models for Conventional and Unconventional Aircraft

Abstract: Collision avoidance systems play an important role in the future of aviation safety. Before new technologies on board manned or unmanned aircraft are deployed, rigorous analysis using encounter simulations is required to prove system robustness. These simulations rely on models that accurately reflect the geometries and dynamics of aircraft encounters at close range. These types of encounter models have been developed by several organizations since the early 1980s. Lincoln Laboratory's newer encounter models, however, provide a higher-fidelity representation of encounters, are based on substantially more data, leverage a theoretical framework for finding optimal model structures, and reflect recent changes in the airspace. Three categories of encounter model were developed by Lincoln Laboratory. Two of these categories are used for modeling conventional aircraft; one involving encounters with prior air traffic control intervention and one without. The third category of encounter model is for encounters with unconventional aircraft—such as gliders, skydivers, balloons, and airships—that typically do not carry transponders. Together, these encounter models are being used to examine the safety and effectiveness of aircraft collision avoidance systems and as a foundation for algorithms for future manned and unmanned systems. Because of the extreme time criticality and the potentially catastrophic consequences of error in the operation of collision avoidance systems, civil aviation authorities such as the FAA and Eurocontrol require rigorous safety studies to gain confidence in system effectiveness before deployment. The analysis process includes flight tests and simulation. Although a flight test can evaluate a collision avoidance system in actual operation, only a few situations can be examined due to time, cost, and safety constraints. Simulation analyses use Monte Carlo techniques to estimate the robustness of a given collision avoidance system across a wide range of encounter situations. Central to Monte Carlo simulation analysis is an encounter model that describes the types of encounter situations typically occurring in the airspace. An accurate representation of these encounters is required so that the collision avoidance system being tested is exposed to a realistic set of problems to resolve. This paper describes the highest-fidelity models to date of aircraft encounters, based on hundreds of times more data than was used to construct previous models. The primary function of an encounter model is to generate random encounter situations between two aircraft, capturing the potentially hazardous events that may occur in the actual airspace. The encounters represented by the model are those involving aircraft in the final stages before a collision, typically covering a period of one minute or less. The model assumes that prior safety layers—e.g., airspace structure and air traffic control (ATC) advisories or vectors—have failed to maintain standard separation distances between aircraft. A situation generated from an encounter model describes the initial relative positions, velocities, and attitudes of two aircraft and subsequent maneuvers that may take place before the aircraft reach a point of closest approach. A dynamic simulation using the encounter model then propagates the aircraft positions based on the model, applies sensor and algorithm models to determine whether a collision avoidance command is issued, and then tracks the resulting outcome. This paper begins with a background on prior U.S. and European encounter models and discusses the different categories of models introduced in our work. The remainder of the paper describes the model construction process and the data used to build the models. The paper concludes with a discussion of some applications of the models to collision avoidance system development and safety analysis.

Range sensor evaluation for use in Cooperative Intersection Collision Avoidance Systems

Abstract: The Intelligent Transportation Institute at the University of Minnesota is developing a Cooperative Intersection Collision Avoidance System - Stop Sign Assist (CICAS-SSA) for rural intersections as an alternative to signalized intersections. When deployed, the system will provide a driver stopped at a thru-stop intersection information about the available gaps in the mainline road traffic stream. The system uses surveillance sensors alongside the major road to determine the state1 of the intersection; this state information is used to determine whether the gaps that exist are unsafe, thereby triggering a warning to a driver not to initiate the desired maneuver. The system is capable of sending intersection state information to the vehicle (I2V) so that gap information can be displayed in the vehicle. Low cost automotive radar/laser sensors form the basis of the surveillance system. Described herein is a performance evaluation of a Delphi ESR radar sensor (ESR), an Ibeo Lux laser sensor (LUX), and a Smartmicro Umrr9 radar sensor (UMRR9). Each sensor was mounted adjacent to the shoulder on US 52 while a probe vehicle equipped with dual frequency, carrier phase DGPS was driven past. The accuracy of the position and speed measurements for each sensor were determined by comparison with the DGPS position and speed measured at the probe vehicle. An analysis was conducted to determine which sensor provided the best performance:cost ratio when used as a CICAS-SSA mainline sensor.

Method to Assess the Effectiveness of Integrated Pedestrian Protection Safety Systems

Abstract: The effectiveness analysis assesses the benefit of future safety systems in terms of collision mitigation or collision avoidance based on real life accident data. The safety systems are evaluated by case-by-case analyses based on in-depth accident data (e.g. GIDAS). For this purpose an innovative simulation environment was developed that recreates the technical specification of the proposed system consisting of function algorithm, sensor, and actuators. Therefore results of component tests and complete system tests are included into the simulation. The accidents from the database are varied in the simulation by applying stochastic methods, guaranteeing the validity of the results from a statistical viewpoint. In addition to technical parameters such as a reduction in collision speed, the evaluation also includes a reduction in collision probability. Furthermore, when evaluating the functions a distinction is made between controlled and regulated actions. For each type a special simulation technique is used, which on the one hand is a purely offline analysis of previously simulated data and on the other hand an online or in-the-loop simulation. In order to be able to consider driver reactions on defined warning strategies realistically, it is essential to integrate a driver behaviour model into the simulation. To determine the driver behaviour, studies with probands are conducted using a new simulator technology. The test scenarios for these proband studies are based on accidents of the internal Audi accident research unit (AARU) database. In order to convert the technical evaluation parameters of the accident, e.g. collision speed, to injury severity, injury-risk-functions are required. To sum up, a new method of assessing the effectiveness of integrated safety systems will be presented, which incorporates new simulation techniques, driving experiments and real life accident data to assess a well-founded evaluation of integrated safety systems. The full text of this paper may be found at: http://www-nrd.nhtsa.dot.gov/pdf/esv/esv21/09-0398.pdf For the covering abstract see ITRD E145407.

Using Dedicated Short Range Communications for Vehicle Safety Applications - the Next Generation of Collision Avoidance

Abstract: This paper provides the status of the Vehicle Safety Communications-Applications (VSC-A) research project, which was designed to determine if dedicated short range communications (DSRC) paired with accurate vehicle positioning can improve upon autonomous vehicle-based safety systems or enable new communication-based safety applications. This three-year project is a collaborative effort between government and industry to develop the underlying pre-competitive elements needed to enable the deployment of vehicle-to-vehicle (V2V) communication-based crash avoidance applications. The effort includes the development of core software and hardware modules and prototype applications. These use DSRC in conjunction with enhancements to vehicle positioning systems to demonstrate crash avoidance capabilities, which are interoperable between different vehicle manufacturers. To support the development of interoperable systems, the partners have participated in standards and security protocol development activities. The core modules and prototype applications are implemented on a five-vehicle testbed fleet, which will be used to conduct objective tests that are then used to validate minimum performance specifications established as part of this project. These tests will in turn support a safety benefits estimation process to determine the potential for preventing or mitigating crashes and associated fatalities, injuries, and property damage. The full text of this paper may be found at: http://www-nrd.nhtsa.dot.gov/pdf/esv/esv21/09-0330.pdf For the covering abstract see ITRD E145407.

An Autonomous Navigation System for Unmanned Underwater Vehicle

Abstract: UUV(Unmanned Underwater Vehicle) should possess an intelligent control software performing intellectual faculties such as cognition, decision and action which are parts of domain expert's ability, because unmanned underwater robot navigates in the hazardous environment where human being can not access directly. In this paper, we suggest a RVC intelligent system architecture which is generally available for unmanned vehicle and develope an autonomous navigation system for UUV, which consists of collision avoidance system, path planning system, and collision-risk computation system. We present an obstacle avoidance algorithm using fuzzy relational products for the collision avoidance system, which guarantees the safety and optimality in view of traversing path. Also, we present a new path-planning algorithm using poly-line for the path planning system. In order to verify the performance of suggested autonomous navigation system, we develop a simulation system, which consists of environment manager, object, and 3-D viewer.

A research on risk assessment and warning strategy for intersection collision avoidance system

Abstract: This paper proposed a new risk assessment approach based on probability theory and presented corresponding warning strategy for intersection collision avoidance system. Simulation evaluation method was also addressed and evaluation criterions were improved. After an introduction of background and related works of risk assessment for intersection collision avoidance system, a probability model was established to assess crossing path collision risk. Then the warning strategy was made in two traffic scenarios separately. Warning would be issued if risk value beyond risk threshold. A traffic simulation platform was also developed with VISSIM to evaluate collision avoidance performance. The evaluation criterion included not only missed and nuisance warning ratio corresponding to various arrival time difference, but also the required deceleration after warning.

Reliable Vehicle-Autarkic Collision Detection for Rail-Bound Transportation

Abstract: This paper presents the concept for reliable vehicle-autarkic collision detection developed for a Rail Collision Avoidance System (RCAS) that is based on direct train-to-train communication Similar to existing systems in air and maritime transport, the RCAS approach allows vehicle-autarkic detection of imminent collisions Designed as a safety overlay system, it shall warn and advise train drivers in such situations Broadcasted messages shall allow each railway vehicle to assess the traffic situation in its vicinity under all operational conditions Apart from an onboard localization unit, which relies on satellite navigation signals, the system architecture does not require any other infrastructure

Test and Evaluation of the Cooperative Intersection Collision Avoidance System for Violations (CICAS-V) Driver-Vehicle Interface

Abstract: The Cooperative Intersection Collision Avoidance System for Violations (CICAS-V) project was conducted to develop and field-test a comprehensive system to assist drivers in reducing the number and severity of crashes at intersections due to violations at stop-sign and signal-controlled intersections. One essential component of such a system is the Driver- Vehicle Interface (DVI) to warn a driver of an impending violation. A series of test-track studies was conducted to support the selection of a DVI for subsequent on-road tests of the CICAS-V. In these tests, 18 naive drivers per interface were placed in a surprise intersection violation scenario and provided with a precisely timed warning presented through a variety of DVIs. Driver braking profiles and vehicle stop locations were collected and analyzed, with particular emphasis on behaviors that resulted in avoiding entering the intersection DVIs included combinations of visual, auditory, and haptic (brake pulse) warnings. Results from the tests showed that drivers exposed to a brake pulse tended to stop more often and with lower decelerations than drivers that were not exposed to the brake pulse. The effectiveness of the brake pulse warning, however, was partly moderated by the type of auditory warning that accompanied the brake pulse warning. A baseline trial was conducted to determine the benefit of the DVI over a non-warning condition. Overall, results supported the recommendation of a DVI containing the simultaneous presentation of a flashing visual (red stoplight/stop sign icon), a 'Stop Light' speech warning, and a single brake pulse. The best-performing DVI resulted in an 88% improvement over the baseline condition. Project participants included offices of the United States Department of Transportation, Daimler, Ford, General Motors, Honda, Toyota, and the Virginia Tech Transportation Institute. For the covering abstract see ITRD E145407.