The U.S. Federal Transit Administration has sponsored a significant amount of<br>research in collision avoidance for transit buses, under the U.S. DOT IVI. In fact,<br>this work is unique worldwide, even though other parts of the world use many more<br>buses. Research and testing conducted on various single-function systems has led to<br>the development of the agency’s ICWS. As shown in the block diagram in Figure<br>8.4, ICWS focuses on both side and frontal collision warning. In addition to avoiding bus-car collisions, a key aspect of transit bus collision avoidance is to detect<br>pedestrians, given their close proximity to buses, Also, transit operators seek to support less experienced drivers in avoiding sideswipes of street-side poles and signs<br>when the bus is turning in tight urban areas.<br>As shown in Figure 8.5, one laser scanner and two video cameras on each side of<br>the bus comprise the side sensors. The laser scanner scans in a horizontal plane to<br>detect objects at about knee height, which is intended to cover detection of both<br>adults and children. The cameras look down the sides of the bus. A curb sensor<br>mounted behind the front bumper measures the location of the right-hand curb. For<br>forward sensing, a laser scanner and radars are mounted in the front bumper and
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