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A frontal collision warning system (FCWS) for transit buses is introduced. The main purpose of the transit FCWS is to help bus drivers avoid crashes. Given the fact that buses mostly run in complex urban and suburban environments, it is a challenge for the system to give drivers timely true warnings while suppressing excessive nuisance and false warnings. The new features in the frontal collision warning algorithm is introduced and two of them are described. Sensor limitations are addressed by a delayed filter, making the estimation of object speed and acceleration practical. A decision making based on required deceleration, combined with other measurements is used in the threat assessment. The solutions to the problems confronted are described and further research focus is discussed.