Scholars@Duke

Probabilistic Risk Metrics for Navigating Occluded Intersections

Publication ,  Journal Article
McGill, SG; Rosman, G; Ort, T; Pierson, A; Gilitschenski, I; Araki, B; Fletcher, L; Karaman, S; Rus, D; Leonard, JJ
Published in: IEEE Robotics and Automation Letters
October 1, 2019
Published version (DOI)

Among traffic accidents in the USA, 23% of fatal and 32% of non-fatal incidents occurred at intersections. For driver assistance systems, intersection navigation remains a difficult problem that is critically important to increasing driver safety. In this letter, we examine how to navigate an unsignalized intersection safely under occlusions and faulty perception. We propose a real-time, probabilistic, risk assessment for parallel autonomy control applications for occluded intersection scenarios. The algorithms are implemented on real hardware and are deployed in a variety of turning and merging topologies. We show phenomena that establish go/no-go decisions, augment acceleration through an intersection and encourage nudging behaviors toward intersections.

Duke Scholars

Guy Rosman
Author Guy Rosman Surgery, Minimally Invasive Surgery

Published In

IEEE Robotics and Automation Letters

DOI

10.1109/LRA.2019.2931823

EISSN

2377-3766

Publication Date

October 1, 2019

Volume

4

Issue

4

Start / End Page

4322 / 4329

Related Subject Headings

  • 4602 Artificial intelligence
  • 4007 Control engineering, mechatronics and robotics
  • 0913 Mechanical Engineering
 

Citation

APA
Chicago
ICMJE
MLA
NLM
McGill, S. G., Rosman, G., Ort, T., Pierson, A., Gilitschenski, I., Araki, B., … Leonard, J. J. (2019). Probabilistic Risk Metrics for Navigating Occluded Intersections. IEEE Robotics and Automation Letters, 4(4), 4322–4329. https://doi.org/10.1109/LRA.2019.2931823
McGill, S. G., G. Rosman, T. Ort, A. Pierson, I. Gilitschenski, B. Araki, L. Fletcher, S. Karaman, D. Rus, and J. J. Leonard. “Probabilistic Risk Metrics for Navigating Occluded Intersections.” IEEE Robotics and Automation Letters 4, no. 4 (October 1, 2019): 4322–29. https://doi.org/10.1109/LRA.2019.2931823.
McGill SG, Rosman G, Ort T, Pierson A, Gilitschenski I, Araki B, et al. Probabilistic Risk Metrics for Navigating Occluded Intersections. IEEE Robotics and Automation Letters. 2019 Oct 1;4(4):4322–9.
McGill, S. G., et al. “Probabilistic Risk Metrics for Navigating Occluded Intersections.” IEEE Robotics and Automation Letters, vol. 4, no. 4, Oct. 2019, pp. 4322–29. Scopus, doi:10.1109/LRA.2019.2931823.
McGill SG, Rosman G, Ort T, Pierson A, Gilitschenski I, Araki B, Fletcher L, Karaman S, Rus D, Leonard JJ. Probabilistic Risk Metrics for Navigating Occluded Intersections. IEEE Robotics and Automation Letters. 2019 Oct 1;4(4):4322–4329.

Published In

IEEE Robotics and Automation Letters

DOI

10.1109/LRA.2019.2931823

EISSN

2377-3766

Publication Date

October 1, 2019

Volume

4

Issue

4

Start / End Page

4322 / 4329

Related Subject Headings

  • 4602 Artificial intelligence
  • 4007 Control engineering, mechatronics and robotics
  • 0913 Mechanical Engineering