Two-dimensional active sensing system for bicyclist-motorist crash prediction

Woongsun Jeon, Rajesh Rajamani

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations


This paper develops an active sensing system for a bicycle to accurately track rear vehicles that can have two-dimensional motion. The active sensing system consists of a single-beam laser sensor mounted on a rotationally controlled platform. The sensing system is inexpensive, small, lightweight, consumes low power, and is thus ideally suited for the bicycle application. The rotational orientation of the laser sensor needs to be actively controlled in real-time in order to continue to focus on a rear vehicle, as the vehicle's lateral and longitudinal distances change. This tracking problem requires controlling the real-time angular position of the laser sensor without knowing the future trajectory of the vehicle. The challenge is addressed using a novel receding horizon framework for active control and an interacting multiple model framework for estimation. The features and benefits of this active sensing system are illustrated first using simulation results. Then, preliminary experimental results are presented using an instrumented bicycle to show the feasibility of the system in tracking rear vehicles during both straight and turning maneuvers.

Original languageEnglish (US)
Title of host publication2017 American Control Conference, ACC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781509059928
StatePublished - Jun 29 2017
Event2017 American Control Conference, ACC 2017 - Seattle, United States
Duration: May 24 2017May 26 2017

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2017 American Control Conference, ACC 2017
Country/TerritoryUnited States

Bibliographical note

Funding Information:
This research was supported in part by the Roadway Safety Institute, a Region 5 University Transportation Center of the USDOT, and by a research grant from the National Science Foundation (NSF Grant PFI-1631133).

Publisher Copyright:
© 2017 American Automatic Control Council (AACC).


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