PC5-Based Cellular-V2X Evolution and Deployment

. 2021 Jan 27;21(3):843. doi: 10.3390/s21030843

Algorithm 1

|H e a d_{n} - H e a d_{h}| < 20^{\circ}

then

the target pedestrian is heading in the same direction as the host vehicle, no collision warning is sent

else if

|H e a d_{n} - H e a d_{h}| > 160^{\circ}

then

the target pedestrian is heading in the conflict direction with the host vehicle, collision warning is sent

else if

20^{\circ} < |H e a d_{n} - H e a d_{h}| < 160^{\circ}

then

the target pedestrian is crossing on the left side of the host vehicle, collision warning is sent

else if

- 160^{\circ} < |H e a d_{n} - H e a d_{h}| < - 20^{\circ}

then

the target pedestrian is crossing on the right side of the host vehicle, collision warning is sent

end if