Threat assessment design for driver assistance system at intersections
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 effi...
| Main Authors: | , , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers
2011
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| Online Access: | http://hdl.handle.net/1721.1/65137 https://orcid.org/0000-0001-8576-1930 |
| _version_ | 1826194643299074048 |
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| author | Aoude, Georges Luders, Brandon Douglas Lee, Kenneth King Ho Levine, Daniel S. How, Jonathan P. |
| author2 | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics |
| author_facet | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Aoude, Georges Luders, Brandon Douglas Lee, Kenneth King Ho Levine, Daniel S. How, Jonathan P. |
| author_sort | Aoude, Georges |
| collection | MIT |
| description | 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. |
| first_indexed | 2024-09-23T09:59:43Z |
| format | Article |
| id | mit-1721.1/65137 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T09:59:43Z |
| publishDate | 2011 |
| publisher | Institute of Electrical and Electronics Engineers |
| record_format | dspace |
| spelling | mit-1721.1/651372022-09-26T15:01:29Z Threat assessment design for driver assistance system at intersections Aoude, Georges Luders, Brandon Douglas Lee, Kenneth King Ho Levine, Daniel S. How, Jonathan P. Massachusetts Institute of Technology. Department of Aeronautics and Astronautics How, Jonathan P. How, Jonathan P. Aoude, Georges Luders, Brandon Douglas Lee, Kenneth King Ho Levine, Daniel S. 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. Ford Motor Company Fonds québécois de la recherche sur la nature et les technologies (Graduate Award) 2011-08-15T15:01:43Z 2011-08-15T15:01:43Z 2010-09 Article http://purl.org/eprint/type/ConferencePaper 978-1-4244-7657-2 2153-0009 INSPEC Accession Number: 11639527 http://hdl.handle.net/1721.1/65137 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. https://orcid.org/0000-0001-8576-1930 en_US http://dx.doi.org/10.1109/ITSC.2010.5625287 Proceedings of the 13th International IEEE Conference on Intelligent Transportation Systems (ITSC), 2010 Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. application/pdf Institute of Electrical and Electronics Engineers IEEE |
| spellingShingle | Aoude, Georges Luders, Brandon Douglas Lee, Kenneth King Ho Levine, Daniel S. How, Jonathan P. Threat assessment design for driver assistance system at intersections |
| title | Threat assessment design for driver assistance system at intersections |
| title_full | Threat assessment design for driver assistance system at intersections |
| title_fullStr | Threat assessment design for driver assistance system at intersections |
| title_full_unstemmed | Threat assessment design for driver assistance system at intersections |
| title_short | Threat assessment design for driver assistance system at intersections |
| title_sort | threat assessment design for driver assistance system at intersections |
| url | http://hdl.handle.net/1721.1/65137 https://orcid.org/0000-0001-8576-1930 |
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