Threat assessment design for driver assistance system at intersections

IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC

Volumn , Issue , 2010, Pages 1855-1862

  Aoude, Georges S ^a   Luders, Brandon D ^a   Lee, Kenneth K H ^a   Levine, Daniel S ^a   How, Jonathan P ^a  

^a Massachusetts Institute of Technology Cambridge   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

DECISION-MAKING PROBLEM; DRIVER ASSISTANCE SYSTEM; RAPIDLY-EXPLORING RANDOM TREES; ROAD INTERSECTIONS; THREAT ASSESSMENT; THREAT LEVELS;

AUTOMOBILE DRIVERS; DECISION MAKING; INTELLIGENT SYSTEMS;

RATING;

EID: 78650477761     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ITSC.2010.5625287     Document Type: Conference Paper

References (25)

1. W. D. Jones, "Keeping cars from crashing," IEEE Spectrum, vol. 38, no. 9, pp. 40-45, 2001. [Online]. Available: http://dx.doi.org/10.1109/6. 946636
2. National Highway Traffic Safety Administration, "Fatality analysis reporting system encyclopedia," 2010. [Online]. Available: http://www-fars.nhtsa.dot.gov/Crashes/CrashesLocation.aspx
3. B. Bougler, D. Cody, and C. Nowakowski, "California Intersection Decision Support: A Driver-Centered Approach to Left-Turn Collision Avoidance System Design," UC Berkeley, Tech. Rep., 2008.
4. Y. Zhao and A. House, "Vehicle Location and Navigation Systems: Intelligent Transportation Systems," Artech House, pp. 221-224, 1997.
5. J. Hillenbrand and K. Kroschel, "A Study on the Performance of Uncooperative Collision Mitigation Systems at Intersection-like Traffic Situations," in Proceedings of the IEEE Conference on Cybernetics and Intelligent Systems, 2006, pp. 1-6.
6. K. Fuerstenberg, "New European Approach for Intersection Safety - The EC-Project INTERSAFE," in Proceedings of IEEE Intelligent Transportation Systems, 2005, pp. 432-436.
7. J. Leonard, J. How, S. Teller, et al., "A Perception-Driven Autonomous Urban Vehicle," Journal of Field Robotics, vol. 25, no. 10, pp. 727-774, 2008.
8. A. Polychronopoulos, M. Tsogas, A. Amditis, U. Scheunert, L. Andreone, and F. Tango, "Dynamic situation and threat assessment for collision warning systems: the EUCLIDE approach," in Proceedings of the IEEE Intelligent Vehicles Symposium, 2004, pp. 636-641.
9. R. Karlsson, J. Jansson, and F. Gustafsson, "Model-based statistical tracking and decision making for collision avoidance application," in Proceedings of the IEEE American Control Conference, vol. 4, 2004.
10. J. How, B. Bethke, A. Frank, D. Dale, and J. Vian, "Real-time indoor autonomous vehicle test environment," IEEE Control Systems Magazine, vol. 28, no. 2, pp. 51-64, 2008.
11. G. S. Aoude, B. D. Luders, D. S. Levine, and J. P. How, "Threataware Path Planning in Uncertain Urban Environments," in IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, October 2010 (to appear).
12. T. Kumagai, Y. Sakaguchi, M. Okuwa, and M. Akamatsu, "Prediction of driving behavior through probabilistic inference," in Proceedings of the Eighth International Conference on Engineering Applications of Neural Networks, 2003, pp. 8-10.
13. G. S. Aoude and J. P. How, "Using Support Vector Machines and Bayesian Filtering for Classifying Agent Intentions at Road Intersections," Massachusetts Institute of Technology, Tech. Rep. ACL09-02, September 2009. [Online]. Available: http://hdl.handle. net/1721.1/46720
14. C. Heinze, "Modelling Intention Recognition for Intelligent Agent Systems," Ph.D. dissertation, Melbourne, Victoria: Defence Science and Technology Organisation, 2004.
15. V. Vapnik, The Nature of Statistical Learning Theory. New York: Springer-Verlag, 1995.
16. H. M. Mandalia and D. D. Dalvucci, "Using Support Vector Machines for Lane-Change Detection," Human Factors and Ergonomics Society Annual Meeting Proceedings, vol. 49, pp. 1965-1969, 2005.
17. G. S. Aoude, B. D. Luders, and J. P. How, "Sampling-Based Threat Assessment Algorithms for Intersection Collisions Involving Errant Drivers," in IFAC Symposium on Intelligent Autonomous Vehicles, Lecce, Italy, September 2010.
18. S. M. LaValle, "Rapidly-exploring random trees: A new tool for path planning," Iowa State University, Ames, IA, Tech. Rep. 98-11, Oct. 1998.
19. -, Planning Algorithms. Cambridge University Press, 2006.
20. Y. Kuwata, J. Teo, G. Fiore, S. Karaman, E. Frazzoli, and J. P. How, "Real-time motion planning with applications to autonomous urban driving," IEEE Transactions on Control Systems Technology, vol. 17, no. 5, pp. 1105-1118, September 2009.
21. Vicon, "Motion capture systems from Vicon," 2010. [Online]. Available: http://www.vicon.com/
22. iRobot, "iRobot: Education & research robots," online http://store.irobot.com/shop/index.jsp?categoryId=3311368.
23. Microsoft, "Description of the Xbox 360 wireless racing wheel," 2010. [Online]. Available: http://support.microsoft.com/kb/927344?sd=xbox
24. S. Park, J. Deyst, and J. P. How, "Performance and Lyapunov stability of a nonlinear path-following guidance method," Journal of Guidance, Control, and Dynamics, vol. 30, no. 6, pp. 1718-1728, November-December 2007.
25. DARPA, "Urban challenge: Route network definition file (RNDF) and mission data file (MDF) formats," Defense Advanced Research Projects Agency, Tech. Rep., March 2007. [Online]. Available: http://support.microsoft. com/kb/927344?sd=xbox