SAFE-STOP System: Tactical Intention Awareness Based Emergency Collision Avoidance for Malicious Cut-in of Surrounding Vehicle

This paper proposes a Stochastic risk Assessment For Emergency-Speed reduction by Tactical intention awareness-based On-road Proactive safety (SAFE-STOP) system. This practical system can cope with a surrounding vehicle's unexpected cut-in maneuver with which a generic safety system cannot deal. To this end, we also design novel decision-making for collision-risk assessment in longitudinal and lateral directions. Since the proposed system is based on a tactical intention awareness utilizing the surrounding vehicle's motion characteristics, an ego vehicle can avoid a collision with an emergency deceleration in advance. We conduct a comparative analysis through simulations under a misbehaved cut-in situation to validate the proactive system. We observed that the proposed system could proactively avoid the accident by 0.75 [sec] early detection, while the crash has been occurred by the generic system.