{"title":"驾驶辅助系统中基于YOLO算法与卡尔曼滤波相结合的车辆碰撞预警","authors":"Guihua Miao, Weihe Wang, Jinjun Tang, Fang Li, Yunyi Liang","doi":"10.1155/atr/1188373","DOIUrl":null,"url":null,"abstract":"<div>\n <p>Vehicle forward collision warning based on machine vision can help to reduce the incidence of traffic accidents. Many researchers have studied this topic in recent years. However, most of the existing studies only focus on one stage of the process such as vehicle detection and distance measurement. It will face many issues in practical application. To solve these problems, we propose a framework for forward collision warning. This study applies the YOLO algorithm to detect the vehicle and uses the Kalman filter to track the vehicle. The monocular vision distance measuring method is used to estimate the distance and travel speed. Finally, we adopt the time to collision (TTC) to decide whether to trigger the warning process. In the speed measurement stage, we design an appropriate time interval to calculate the relative speed of the front vehicle. In the collision warning segment, a TTC threshold is set by considering not only vehicle safety guarantees but also avoiding hard barking that would make drivers uncomfortable. Furthermore, we set a warning area to filter the false warning when the car overtakes and meets. Experiments with real traffic scenes demonstrate that the performance of the proposed model is good to make accurate collision prediction and warning.</p>\n </div>","PeriodicalId":50259,"journal":{"name":"Journal of Advanced Transportation","volume":"2025 1","pages":""},"PeriodicalIF":1.8000,"publicationDate":"2025-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1155/atr/1188373","citationCount":"0","resultStr":"{\"title\":\"Vehicle Collision Warning Based on Combination of the YOLO Algorithm and the Kalman Filter in the Driving Assistance System\",\"authors\":\"Guihua Miao, Weihe Wang, Jinjun Tang, Fang Li, Yunyi Liang\",\"doi\":\"10.1155/atr/1188373\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div>\\n <p>Vehicle forward collision warning based on machine vision can help to reduce the incidence of traffic accidents. Many researchers have studied this topic in recent years. However, most of the existing studies only focus on one stage of the process such as vehicle detection and distance measurement. It will face many issues in practical application. To solve these problems, we propose a framework for forward collision warning. This study applies the YOLO algorithm to detect the vehicle and uses the Kalman filter to track the vehicle. The monocular vision distance measuring method is used to estimate the distance and travel speed. Finally, we adopt the time to collision (TTC) to decide whether to trigger the warning process. In the speed measurement stage, we design an appropriate time interval to calculate the relative speed of the front vehicle. In the collision warning segment, a TTC threshold is set by considering not only vehicle safety guarantees but also avoiding hard barking that would make drivers uncomfortable. Furthermore, we set a warning area to filter the false warning when the car overtakes and meets. Experiments with real traffic scenes demonstrate that the performance of the proposed model is good to make accurate collision prediction and warning.</p>\\n </div>\",\"PeriodicalId\":50259,\"journal\":{\"name\":\"Journal of Advanced Transportation\",\"volume\":\"2025 1\",\"pages\":\"\"},\"PeriodicalIF\":1.8000,\"publicationDate\":\"2025-06-21\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://onlinelibrary.wiley.com/doi/epdf/10.1155/atr/1188373\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Advanced Transportation\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://onlinelibrary.wiley.com/doi/10.1155/atr/1188373\",\"RegionNum\":4,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"ENGINEERING, CIVIL\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Advanced Transportation","FirstCategoryId":"5","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1155/atr/1188373","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ENGINEERING, CIVIL","Score":null,"Total":0}
Vehicle Collision Warning Based on Combination of the YOLO Algorithm and the Kalman Filter in the Driving Assistance System
Vehicle forward collision warning based on machine vision can help to reduce the incidence of traffic accidents. Many researchers have studied this topic in recent years. However, most of the existing studies only focus on one stage of the process such as vehicle detection and distance measurement. It will face many issues in practical application. To solve these problems, we propose a framework for forward collision warning. This study applies the YOLO algorithm to detect the vehicle and uses the Kalman filter to track the vehicle. The monocular vision distance measuring method is used to estimate the distance and travel speed. Finally, we adopt the time to collision (TTC) to decide whether to trigger the warning process. In the speed measurement stage, we design an appropriate time interval to calculate the relative speed of the front vehicle. In the collision warning segment, a TTC threshold is set by considering not only vehicle safety guarantees but also avoiding hard barking that would make drivers uncomfortable. Furthermore, we set a warning area to filter the false warning when the car overtakes and meets. Experiments with real traffic scenes demonstrate that the performance of the proposed model is good to make accurate collision prediction and warning.
期刊介绍:
The Journal of Advanced Transportation (JAT) is a fully peer reviewed international journal in transportation research areas related to public transit, road traffic, transport networks and air transport.
It publishes theoretical and innovative papers on analysis, design, operations, optimization and planning of multi-modal transport networks, transit & traffic systems, transport technology and traffic safety. Urban rail and bus systems, Pedestrian studies, traffic flow theory and control, Intelligent Transport Systems (ITS) and automated and/or connected vehicles are some topics of interest.
Highway engineering, railway engineering and logistics do not fall within the aims and scope of JAT.