NDLI: Safety assessment of driving behavior in multi-lane traffic for autonomous vehicles

Content Provider	IEEE Xplore Digital Library
Author	Althoff, M. Stursberg, O. Buss, M.
Copyright Year	2009
Description	Author affiliation: Institute of Automatic Control Engineering (LSR), Technische Universität München, 80290, Germany (Althoff, M.; Buss, M.) \|\| Institute of Control and System Theory, Dept. of Electrical Eng., University of Kassel, Germany (Stursberg, O.)
Abstract	An approach for the safety assessment of planned trajectories of autonomous vehicles is presented. Due to the unsafe nature of road traffic, the proposed safety assessment is performed in a probabilistic setting, where the probability distributions of possible future positions of traffic participants are computed based on dynamic models. The underlying algorithms have to be efficient as they need to provide a safety level of the currently planned path while the vehicle is in operation. In order to achieve the necessary efficiency of computation, the dynamics of traffic participants is abstracted into Markov-chains. The approach considers vehicle dynamics, interaction between traffic participants, and lane changes in multi-lane traffic.
Starting Page	893
Ending Page	900
File Size	1608571
Page Count	8
File Format	PDF
ISBN	9781424435036
ISSN	19310587
DOI	10.1109/IVS.2009.5164398
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-06-03
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicle safety Remotely operated vehicles Vehicle driving Mobile robots Traffic control Road safety Vehicle dynamics Probability distribution Computational modeling Distributed computing
Content Type	Text
Resource Type	Article

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