Wolfgang Branz

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This paper answers the question of the latest possible evasive trajectory. Using a novel approach, it can be shown and proven that it has to be a combined braking and steering maneuver. Although Horiuchi et al. (2004) has already pointed out the advantages of a combination over a sole steering intervention, the question of the latest possible collision-free(More)
Active safety systems employ surround environment perception in order to detect critical driving situations. Assessing the threat level, e.g. the risk of an imminent collision, is usually based on criticality measures which are calculated from the sensor measurements. However, these metrics are subject to uncertainty. Probabilistic modelling of the(More)
Vehicle motion models are employed in driver assistance systems for tracking and prediction tasks. For probabilistic decision making and uncertainty propagation, the prediction's inaccuracy is taken into account in the form of process noise. This work estimates Gaussian process noise models from measured vehicle trajectories using the expectation(More)
Recognising the intended manoeuvres of other traffic participants is a crucial task for situation interpretation in driver assistance and autonomous driving. While many works propose algorithms for (computationally feasible) inference, much less attention is paid to finding analytic upper performance bounds for these problems. This work studies the(More)
Active safety systems will have a great impact in the next generation of vehicles. This is partly originated by the increasing consumer's interest for safety and partly by new traffic safety laws. Control actions in the vehicle are based on an extensive environment model which contains information about relevant objects in vehicle surroundings. Sensor data(More)
Autonomous emergency brake (AEB) systems have to decide on brake interventions based on an uncertain and incomplete perception of the environment. This paper analyses theoretical limitations in AEB systems caused by noisy sensor measurements and uncertain prediction models. Such performance bounds can be used to derive sensor accuracy constraints, to(More)
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