Simulation Research on Safety and Anti-collision Strategy of Typical Intersection Based on Hazard Cognition

In order to enable the autonomous vehicle to pass safely through the intersection, this paper proposes an efficient anti-collision strategy of typical intersection based on hazard cognition. Considering the time-varying time-to-collision along the two directions of the intersection, the danger degree of collision between the autonomous vehicle and other vehicles is studied. The fuzzy control strategy is established to realize the collision avoidance function of the autonomous vehicle. This paper considers six conditions of other vehicles at intersection, constructs intersection model and sensor parameters in PreScan, and builds vehicle dynamics model and fuzzy control algorithm in MATLAB/Simulink. The joint simulation results show that even under complex traffic conditions, the autonomous vehicle can effectively avoid collision when the danger occurs, which confirms the proposed algorithm has high reliability.