Cooperative safety using vehicle-to-vehicle and vehicle-to-infrastructurecommunication enables warning systems to take into account more detailed and longer range information than previously possible. Due to the increased prediction horizon factors that influence driver behavior, such as traffic rules and driver intentions, must be modelled in addition to short termkinematics traditionally used in driver alert systems. The paper proposesa cooperative warning system that models such factors using artificial potential fields taking into account multiple hypotheses regarding driver intentions. A prototype has been implemented and has been used to experimentally evaluate the feasibility of using the history of driver intention estimates as an indicator of unpredictable driver behavior.
Abstract