Threat assessment design for driver assistance system at intersections
Author(s)Aoude, Georges; Luders, Brandon Douglas; Lee, Kenneth King Ho; Levine, Daniel S.; How, Jonathan P.
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This paper considers the decision-making problem for a human-driven vehicle crossing a road intersection in the presence of other, potentially errant, drivers. Our approach relies on a novel threat assessment module, which combines an intention predictor based on support vector machines with an efficient threat assessor using rapidly-exploring random trees. This module warns the host driver with the computed threat level and the corresponding best “escape maneuver” through the intersection, if the threat is sufficiently large. Through experimental results with small autonomous and human-driven vehicles, we demonstrate that this threat assessment module can be used in real-time to minimize the risk of collision.
DepartmentMassachusetts Institute of Technology. Department of Aeronautics and Astronautics
Proceedings of the 13th International IEEE Conference on Intelligent Transportation Systems (ITSC), 2010
Institute of Electrical and Electronics Engineers
Aoude, Georges S. et al. “Threat Assessment Design for Driver Assistance System at Intersections.” 13th International IEEE Conference on Intelligent Transportation Systems. Funchal, Madeira Island, Portugal, 2010. 1855-1862. © 2011 IEEE.
Final published version
INSPEC Accession Number: 11639527