This paper formulates the vehicle navigation task as a constrained optimal control problem with constraints bounding a traversable region of the environment. A model predictive controller iteratively plans an optimal vehicle trajectory through the constrained corridor and uses this trajectory to establish the minimum threat posed to the vehicle given its current state and driver inputs. Based o...

An exact threat level assessment method is necessary to improve safety of vehicles, but the traffic environment is not taken into account adequately in existing approaches. This paper presents a Bayesian network based method to improve the effect of vehicles threat evaluation. In the method, various factors threatening vehicle safety are analyzed, and a Bayesian network model with environmental...