Investigating LiDAR Sensor Accuracy for V2V and V2P Conflict Detection at Signalized Intersections

Abstract

This paper examined the accuracy of six installed LiDAR sensors at six different signalized intersections in Trois-Rivières City, Quebec, Canada. At each intersection, the crucial leading and following movements that cause vehicle–vehicle (V2V) and vehicle–pedestrian (V2P) conflicts were identified, and the LiDAR results were compared to crash reports recorded by police, insurance companies, and other reliable resources. Furthermore, the intersection crash rates were calculated based on the daily entering vehicle traffic and the frequency of crashes at each intersection. Convolutional Neural Networks (CNNs) were utilized over 970,000 V2V and V2P conflicts based on the post encroachment time (PET) and time-to-collision (TTC) safety assessment measures. Bayesian models were used to assess the relationships between different intersection characteristics and the occurrence of conflicts, providing insights into the factors influencing V2V and V2P conflict occurrences. Additionally, a developed image-processing algorithm was utilized to examine the conflicts’ trajectories. The intersections’ crash rates indicated that safety considerations should be implemented at intersections #3, #6, #4, #1, #5, and #2, respectively. Additionally, intersections #6, #4, and #3 were the intersections with the highest rates of vehicle–pedestrian conflicts. Analysis revealed the intricate nature of vehicle and pedestrian interactions, demonstrating the potential of LiDAR sensors in discerning conflict-prone areas at intersections.

Keywords

• LiDAR sensor technology
• V2V and V2P conflict
• post encroachment time (PET)
• time-to-collision (TTC)
• signalized intersections
• traffic safety