Active Sensing on a Bicycle for Simultaneous Search and Tracking of Multiple Rear Vehicles

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1 Scopus citations


This paper uses an inexpensive single-beam laser sensor mounted on a rotationally controlled platform to simultaneously search for and track multiple vehicles that are behind a bicycle. Vehicles in the bicycle's lane and in the adjacent left lane are both considered. The tasks involved are searching both lanes to detect the presence of vehicles, tracking a vehicle's trajectory once it has been detected, and switching between searching and tracking as needed. A rigorous search algorithm that minimizes the number of sensor rotational angles needed to search the entire region of interest is developed. An error covariance matrix approach is utilized to switch between tracking vehicles and searching the region of interest. Detailed simulation results are presented to show how the developed system handles the absence and presence of vehicles in the two lanes and handles different types of lane change maneuvers while tracking multiple vehicles. Since the developed system uses an inexpensive lightweight sensor that is suitable for on-bicycle implementation, it can be used to detect the danger of a collision and provide a corresponding horn-like audio alert to the motorist.

Original languageEnglish (US)
Article number8692650
Pages (from-to)5295-5308
Number of pages14
JournalIEEE Transactions on Vehicular Technology
Issue number6
StatePublished - Jun 2019


  • Smart bicycle
  • collision prevention
  • collision warning
  • estimation
  • vehicle tracking


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