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Collision risk assessment of occluded vehicle based on the motion predictions using the precise road map

Title
Collision risk assessment of occluded vehicle based on the motion predictions using the precise road map
Author
선우명호
Keywords
Roadway geometry model; Occluded vehicle; Vehicle maneuver; Collision risk assessment; Probabilistic speed modeling
Issue Date
2018-08
Publisher
ELSEVIER SCIENCE BV
Citation
ROBOTICS AND AUTONOMOUS SYSTEMS, v. 106, page. 179-191
Abstract
A perception system based on vehicle detection sensors, which are mounted on an ego vehicle, has restricted visibility because of blockage by obstacles. Estimating the risk of collision with moving vehicles in an occluded area is difficult because their locations and speeds cannot be detected. To address the occlusion problem, this paper proposes a probabilistic collision risk assessment method for a potential collision vehicle in an occluded area. The proposed method estimates the collision risk in three steps: occlusion boundary modeling of perception, motion prediction of the potential collision vehicles, and probabilistic collision risk assessment. The first step models the occlusion boundary to classify the free space and the unknown region. In the second step, the moving path of each potential collision vehicle is predicted considering its future behavior. The final step estimates the collision probability with a potential collision vehicle based on the speed distribution of the vehicles on the road. We evaluate the proposed probabilistic collision risk assessment method in several occlusion scenarios with real traffic, including an alleyway, a merging lane, and blockage by a bulky vehicle. (C) 2018 Elsevier B.V. All rights reserved.
URI
https://www.sciencedirect.com/science/article/pii/S0921889017308746?via%3Dihubhttps://repository.hanyang.ac.kr/handle/20.500.11754/119766
ISSN
0921-8890; 1872-793X
DOI
10.1016/j.robot.2018.05.005
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > AUTOMOTIVE ENGINEERING(미래자동차공학과) > Articles
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