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Behaviour investigation of a risk-aware driving model for trajectory prediction

Müller, Fabian ; Eggert, Julian (2021):
Behaviour investigation of a risk-aware driving model for trajectory prediction. (Publisher's Version)
In: Proceedings of the 5th International Symposium on Future Active Safety Technology toward Zero Accidents,
Darmstadt, 5th International Symposium on Future Active Safety Technology toward Zero Accidents (FAST-zero ’19), Blacksburg, VA, USA, 09.-11-09.2019, DOI: 10.26083/tuprints-00020255,
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Item Type: Conference or Workshop Item
Origin: Secondary publication service
Status: Publisher's Version
Title: Behaviour investigation of a risk-aware driving model for trajectory prediction
Language: English
Abstract:

The prevention of risky situations is one of the main tasks in autonomous driving (AD) and intelligent driving assistant systems (ADAS). Uncertainty in the traffic participants’ behavior and the sensor measurements leads to critical situations, which have to be anticipated by appropriate risk prediction approaches. The risk prediction itself requires dedicated driver models which are interaction sensitive and computationally cheap, to efficiently simulate how a scene might evolve. In this paper, we present a new driver model which is aware of the usual risks encountered in normal driving scenarios. It can cope with longitudinal as well as lateral collision risks, and adjusts its behavior by minimizing the expected integral risk. We show how our model is suited for coping with parallel lane scenarios like overtaking, following and in-between positioning by analyzing its behavior and stability.

Title of Book: Proceedings of the 5th International Symposium on Future Active Safety Technology toward Zero Accidents
Place of Publication: Darmstadt
Collation: 8 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: 5th International Symposium on Future Active Safety Technology toward Zero Accidents (FAST-zero ’19)
Event Location: Blacksburg, VA, USA
Event Dates: 09.-11-09.2019
Date Deposited: 21 Dec 2021 13:08
Last Modified: 21 Dec 2021 13:08
DOI: 10.26083/tuprints-00020255
Corresponding Links:
URN: urn:nbn:de:tuda-tuprints-202551
Additional Information:

Keywords: Risk Assessment, Safety, Trajectory Prediction, Trajectory Planning

URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/20255
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