Threat Assessment for avoiding collsions with perpendicular vehicles at Intersections

This paper presents a method for estimating how the driver of a vehicle can use braking or acceleration to avoid the collision with a moving vehicle. Approach relies on a novel threat assessment module, which combines prediction and avoiding collision maneuver. We describe Braking Threat Number (BTN), Acceleration Threat Number (ATN), Deceleration Threat Number (DTN), and Steering Threat Number (STN). A collision avoidance by braking system, based on proposed method has been evaluated on simulated traffic scenarios at intersection. Our simulation shows that autonomous braking can be initiated 1 to 3 seconds before the potential collision. With this system the vehicle will have less impact collision.