Over the past decades, there has been significant research effort dedicated to the development of intelligent vehicles and V2X systems. This paper proposes a road traffic risk assessment method for road traffic accident prevention of intelligent vehicles. This method is based on HMM (Hidden Markov Model) and is applied to the prediction of steering angle status to (1) evaluate the probabilities of the steering angle in each independent interval and (2) calculate the road traffic risk in different analysis regions. According to the model, the road traffic risk is quantified and presented directly in a visual form by the time-varying risk map, to ensure the accuracy of assessment and prediction. Experiment results are presented, and the results show the effectiveness of the assessment strategies.

Aiming at the problem of early warning credibility degradation as the heavy vehicle load and its center of gravity change greatly; the heavy vehicle rollover state identification method based on the Hidden Markov Model (HMM, is introduced to identify heavy vehicle lateral conditions dynamically in this paper. In this method, the lateral acceleration and roll angle are taken as the observation values of the model base. The Viterbi algorithm is used to predict the state sequence with the highest probability in the observed sequence, and the Markov prediction algorithm is adopted to calculate the state transition law and to predict the state of the vehicle in a certain period of time in the future. According to combination conditions of Double lane change and steering, applying Trucksim and Matlab trained hidden Markov model, the model is applied to the online identification of heavy vehicle rollover states. The identification results show that the model can accurately and efficiently identify the vehicle rollover state, and has good applicability. This study provides a novel method and a general strategy for active safety early warning and control of vehicles, which has reference significance for the application of the Hidden Markov theory in collision, rear-end and lane departure warning system.

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