Abstract-In this paper, we present our approach for collision risk estimation between vehicles. The vehicles are equipped with GPS receivers and communication devices. Our approach consists on using the knowledge given trough communication tool to predict the trajectories of the surrounding vehicles. Based on these trajectories, we identify the configurations of the collisions between vehicles. The risk is calculated using several indicators that are reflecting not only the possible collisions but also the dangerousness of these collisions. Our algorithm is tested on crossroads using scenarios involving real prototypes producing realistic scenarios.
Absrroer-In this paper we present a system far threedimensional environment modeling. It consists of an instrumented vehicle equipped with B 2D laser range scanner for data mapping, and GPS, LYS and odometers for vehicle positioning and anitude information. The advantage of this system is its ahilie to perform data acquisition during the vehicle navigation; the sensor needed being a basic 2D scanner with opposition to traditional expensive 3D SEOSOTS. This system integrates the laser raw range data with the vehicle's internal state estimator and is capable of rceonstructing the 3D geometry of the environment by realtime geo-referencing.We propose a high level representation of the urban scene while identifying automstiesiiy and in real time some types of existing objects in this environment. Thus, our modeling is articulated around three principal axes, the segmentation; decimation; the 3D reconstruction and visualization. The road is the most important object lor us; some road features like the curvature and the width are extracted.
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