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Time-Course Sensitive Collision Probability Model for Risk Estimation

Müller, Fabian ; Eggert, Julian (2021):
Time-Course Sensitive Collision Probability Model for Risk Estimation. (Postprint)
Darmstadt, IEEE, 2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC), Rhodes, Greece (virtual conference), 20.-23.09.2020, ISBN 978-1-7281-4149-7,
DOI: 10.26083/tuprints-00019146,
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Item Type: Conference or Workshop Item
Origin: Secondary publication service
Status: Postprint
Title: Time-Course Sensitive Collision Probability Model for Risk Estimation
Language: English
Abstract:

Avoiding critical situations is a prerequisite for Advanced Driver Assistant Systems and Autonomous Driving to decrease the number of total hazards and fatal collisions. As a guide for safe motion behavior and for avoiding critical situations in complex scenarios with several interacting traffic participants, an appropriate risk measurement is necessary. It should incorporate system-inherent uncertainties like present in environment recognition, behavior predictions and physical model assumptions. In this paper, we introduce a time-course-aware incremental risk model for motion planning which predicts state distributions along forecasted trajectories and regards their magnitude evolution by the Survival Theory and their shape adaptation by removing collided distribution parts while preserving statistical moments. Our approach is able to reproduce motion risk probability costs as found by particle-based Monte-Carlo (MC) simulations in a range of scenarios, at much lower computational costs.

Place of Publication: Darmstadt
Publisher: IEEE
Collation: 8 ungezählte Seiten
Classification DDC: 600 Technik, Medizin, angewandte Wissenschaften > 620 Ingenieurwissenschaften
Divisions: 18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik > Control Methods and Robotics
Event Title: 2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)
Event Location: Rhodes, Greece (virtual conference)
Event Dates: 20.-23.09.2020
Date Deposited: 14 Jul 2021 12:07
Last Modified: 14 Jul 2021 12:07
DOI: 10.26083/tuprints-00019146
Corresponding Links:
URN: urn:nbn:de:tuda-tuprints-191465
URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/19146
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