NDLI: Risk assessment for Collision Avoidance Systems

Content Provider	IEEE Xplore Digital Library
Author	Houénou, A. Bonnifait, P. Cherfaoui, V.
Copyright Year	2014
Description	Author affiliation: Sherpa Eng., France (Houénou, A.) \|\| Univ. of Technol. of Compiegne, Compiègne, France (Bonnifait, P.; Cherfaoui, V.)
Abstract	Collision Avoidance Systems need to perform scene analysis and risk assessment in order to react conveniently. Based on the information provided by the perception system, scene analysis has to predict the evolution of the current driving situation for the near future. Thanks to the predicted trajectories of the relevant traffic participants, the risk of collision on the ego vehicle can be calculated. In many cases, a predicted trajectory is not defined with explicit equations but is given as a set of sampled poses, each one corresponding to a different future time instant. A predicted trajectory being always uncertain, confidence has to be estimated on the so predicted poses. We present a method that propagates the known error covariance matrix of the current pose of the ego vehicle by considering local approximations of the predicted trajectory. This allows to estimate the risk of collision of the ego vehicle with a considered target object. The proposed approach uses a Monte Carlo simulation to approximate the probability that the ego vehicle and the object come into collision at a given future time instant. Each sample time of the whole prediction horizon is considered as a potential collision time so that a curve describing the variation of the risk of collision is obtained. This allows the system to have a better comprehension of the scene and to react proportionally to the threat. The overall approach has been tested with simulated data and the consistency of results is shown.
Starting Page	386
Ending Page	391
File Size	574624
Page Count	6
File Format	PDF
ISBN	9781479960781
DOI	10.1109/ITSC.2014.6957721
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-10-08
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory Vehicles Covariance matrices Predictive models Risk management Uncertainty Image analysis
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in