Collision avoidance at intersections: A probabilistic threat-assessment and decision-making system for safety interventions
Paper in proceeding, 2014

Road intersections are among the most complex and accident-prone elements of modern traffic networks. Thus, new safety systems have to cope with highly complex traffic scenarios where the behavior of the different road users is difficult to predict. Sensing the surrounding environment and assessing possible threats therefore remain challenging problems. This paper provides a novel, efficient active-safety system for frontal collisions detection and prevention/mitigation. More precisely, we provide: (i) a probabilistic motion prediction algorithm based on an unscented Kalman filter; (ii) a probabilistic threat assessment method based on vectors defined by reference points on the vehicles' structure; (iii) a reachability-based decision-making protocol enabling an emergency intervention. Simulation results, based on realistic data obtained specifically for this scenario, are also presented showing the efficiency and the potential of the proposed solution.


decision-making algorithms

collision avoidance


Gabriel Rodrigues de Campos

Chalmers, Signals and Systems, Systems and control

Adam H. Runarsson

AF Consult

Fredrik Granum

Chalmers, Signals and Systems

Paolo Falcone

Chalmers, Signals and Systems, Systems and control

Klas Alenljung

DENSO International Europe

2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014; Qingdao; China; 8 October 2014 through 11 October 2014

978-147996078-1 (ISBN)

Areas of Advance


Subject Categories

Electrical Engineering, Electronic Engineering, Information Engineering





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