Collision Probability Assessment for Speed Control

In order to navigate safely, it is important to detect and to react to a potentially dangerous situation. Such a situation can be underlined by a judicious use of the locations and the uncertainties of both the navigating vehicle and the obstacles. We propose to build an estimation of the collision probability from the environment perception with its probabilistic modelling. Then this probability is used for updating a braking order applied to our vehicle either to avoid or to mitigate a collision. The probability of collision is computed from a product of integrals of a product of Gaussians. The integrals take into account the uncertain configurations and the volume of both the vehicle and the obstacles.