@inproceedings {pub3576,
	title = {Optimization of Velocity Ramps with Survival Analysis for Intersection Merge-Ins},
	author = {Tim Puphal AND Malte Probst  AND Julian Eggert},
	year = {2018},
	month = {June},
	abstract = {We consider the problem of the correct behaviour planning at T-type intersection merge-ins of arbitrary geometry. A merge-in support system has to consider, similarly to a human driver, the gaps and timings of the other vehicles and estimate the chances that a merge-in lying several seconds ahead will be successful. Differently to previous models based on heuristic gap size rules, we present an approach which considers the general risk of the situation, based on the concepts of survival analysis and risk maps. Our approach enables foresighted behaviour which takes the risks from path geometry and all involved vehicles (front and rear on all paths) into account. For better comparison, we also introduce a specially designed extension of the Intelligent Driver Model for curvature handling and intersection merge-ins. In addition of generalizing better to more complex situations with further risk sources, we show in a quantitative statistical evaluation that the survival approach provides benefits in terms of lower absolute risk and better risk- utility tradeoff (i.e., making better use of the chances to enter the intersection).
},
	publisher = {IEEE},
	booktitle = {Intelligent Vehicles Symposium}
}