교차로 환경에서 확률 기반의 주변 차량 경로 예측 및 위험도 판단Probabilistic Trajectory Prediction and Risk Assessment of Surrounding Vehicle at Intersection
- Other Titles
- Probabilistic Trajectory Prediction and Risk Assessment of Surrounding Vehicle at Intersection
- Authors
- 이준호; 송유호; 양찬욱; 김기훈; 손혁주; 허건수
- Issue Date
- Nov-2020
- Publisher
- 한국자동차공학회
- Keywords
- Trajectory Prediction(경로 예측); Model based(모델 기반); Probability(확률); Risk assessment(위험도 판단); Intersection(교차로)
- Citation
- 2020년 한국자동차공학회 추계학술대회 및 전시회, pp.663 - 666
- Indexed
- OTHER
- Journal Title
- 2020년 한국자동차공학회 추계학술대회 및 전시회
- Start Page
- 663
- End Page
- 666
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/4417
- ISSN
- 2713-7171
- Abstract
- For ADAS technologies development, predicting the trajectory of surrounding vehicles and assessing their risk is important. In urban driving situations, especially at intersections, the behavior of surrounding vehicles is complicated, such as going straight, turning left, and turning right, which leads to a high degree of uncertainty. In this paper, we suggest a probabilistic vehicle trajectory prediction and risk assessment algorithm, which can reflect uncertainty of the vehicles. The proposed algorithm employed IMM filter, which is used to determine the suitability of multiple models by probability, to consider the uncertainty between straight and turn motion of the vehicles. The collision risk is determined based on the probability of the predicted trajectory and desired acceleration for collision avoidance is determined using the cost function. The proposed algorithm has been verified through DGPS measurements of two vehicles in an intersection environment.
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