DOI: 10.1109/iccas.2014.6987906
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Samyeul Noh, Woo-Yong Han

Abstract: Collision avoidance is an essential part in autonomous navigation. This paper proposes a collision avoidance method in on-road environment for autonomous driving. The proposed method divides a road map into six lane-level regions, assigns risk observers to corresponding regions, evaluates collision risks of situations based on risk observer distribution, and determines behaviors to deal with various collision-risky situations. Risk observers, designed to recog nize and analyze situations at the level of lanes…

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