Road occupancy prediction of traffic participants

We predict the road occupancy of traffic participants for collision avoidance systems. The occupancy sets are computed for consecutive time intervals and contain all reachable positions of traffic participants in compliance with a proposed dynamic model. Those sets make it possible to check if planned emergency maneuvers are collision-free in all possible future scenarios. However, no algorithm exists for exactly computing the occupancy when the model forbids unrealistic behavior such as leaving road boundaries or largely exceeding speed limits. For this reason, we provide methods to tightly overapproximate occupancy sets to ensure safe emergency maneuvers. We demonstrate the applicability of the approach by numerical examples, which show that the occupancy computation is not only efficient, but also tight enough to trigger emergency maneuvers almost at the last possible point in time.