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Probabilistic Conflict Detection for Piecewise Straight Paths
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2008 (English)Report (Other academic)
Abstract [en]

We consider probabilistic methods for detecting conflicts as a function of predicted trajectory. A conflict is an event representing collision or imminent collision between vehicles or objects. The computations use state estimate and covariance from a target tracking filter based on sensor readings. Existing work is primarily concerned with risk estimation at a certain time instant, while the focus here is to compute the integrated risk over the critical time horizon. This novel formulation leads to evaluating the probability for level-crossing. The analytic expression involves a multi-dimensional integral which is hardly tractable in practice. Further, a huge number of Monte Carlo simulations would be needed to get sufficient reliability for the small risks that the applications often require. Instead, we propose a sound numerical approximation that leads to evaluating a one-dimensional integral which is suitable for real-time implementations.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2008. , 12 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2871
Keyword [en]
Probability, Conflict, Detection, Level-crossing
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-56183ISRN: LiTH-ISY-R-2871OAI: oai:DiVA.org:liu-56183DiVA: diva2:316987
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-10-01Bibliographically approved

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Nordlund, Per-JohanGustafsson, Fredrik

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf