@article {pub3546,
	title = {Intersection Warning System for Occlusion Risks using Local Dynamic Maps
},
	author = {Florian Damerow AND Tim Puphal AND Benedict Flade AND Yuda Li AND Julian Eggert},
	year = {2018},
	month = {September},
	abstract = {This work addresses the problem of risk evaluation in limited observable traffic scenarios due to restricted sensory coverage. Here we concentrate on intersection scenarios, which are particularly difficult to access visually. To distinguish the area of sight, we employ ray casting on a local dynamic map consisting of road geometry and information about buildings occluding
areas in the environment. Based on the reduced visibility area, we model potentially present but not perceivable critical scene entities and predict a worst-case-like trajectory in the survival
analysis for collision risk estimation. The resulting risk map can be utilized to evaluate the driver{\textquoteright}s current behavior, warn the driver in case it is considered as critical and give suggestions on
how to act safely. By applying the resulting intersection warning system to real world scenarios, we could validate our approach. The proposed system{\textquoteright}s behavior reveals to be highly similar to
the general behavior of a correctly acting driver.
},
	publisher = {IEEE},
	journal = {Intelligent Transportation Systems Magazine}
}