A Novel Machine Vision-Based Collision Risk Warning Method for Unsignalized Intersections on Arterial Roads

Zhongbin Luo ^1* Yanqiu Bi ^2* Xun Yang ¹ Yong Li ³ Shaofei Wang ¹ Qing Ye ¹

• ¹ China Merchants Chongqing Communications Technology Research & Design Institute Co., Ltd., Chongqing, China
• ² Chongqing Jiaotong University, Nan'an District, Chongqing Municipality, China
• ³ Chongqing University, Chongqing, China

Addressing the critical need for collision risk warning at unsignalized intersections, this study proposes an advanced predictive system combining YOLOv8 for object detection, Deep SORT for tracking, and Bi-LSTM networks for trajectory prediction. To adapt YOLOv8 for complex intersection scenarios, several architectural enhancements were incorporated. The RepLayer module replaced the original C2f module in the backbone, integrating large-kernel depthwise separable convolution to better capture contextual information in cluttered environments. The GIoU loss function was introduced to improve bounding box regression accuracy, mitigating issues related to missed or incorrect detections due to occlusion and overlapping objects. Furthermore, a Global Attention Mechanism (GAM) was implemented in the neck network to better learn both location and semantic information, while the ReContext gradient composition feature pyramid replaced the traditional FPN, enabling more effective multi-scale object detection. Additionally, the CSPNet structure in the neck was substituted with Res-CSP, enhancing feature fusion flexibility and improving detection performance in complex traffic conditions.For tracking, the Deep SORT algorithm was optimized with enhanced appearance feature extraction, reducing identity switches caused by occlusions and ensuring stable tracking of vehicles, pedestrians, and non-motorized vehicles. The Bi-LSTM model was employed for trajectory prediction, capturing long-range dependencies to provide accurate forecasting of future positions. Collision risk was quantified using the Predictive Collision Risk Area (PCRA) method, categorizing risks into three levels (danger, warning, and caution) based on predicted overlaps in trajectories. In the experimental setup, the dataset used for training the model consisted of 30,000 images, annotated with bounding boxes around vehicles, pedestrians, and non-motorized vehicles. Data augmentation techniques such as Mosaic, Random_perspective, Mixup, HSV adjustments, Flipud, and Fliplr were applied to enrich the dataset and improve model robustness. In real-world testing, the system was deployed as part of the G310 highway safety project, where it achieved a mean Average Precision (mAP) of over 90% for object detection. Over a one-month period, 120 warning events involving vehicles, pedestrians, and