Second-Order Time to Collision With Non-Static Acceleration
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arXiv
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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866929711601418240 |
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| author | Matin, Hossein Nick Zinat Yeo, Yuneil Ngo, Amelie Ju-Kang Paiva, Antonio R. Utke, Jean Monache, Maria Laura Delle |
| author_facet | Matin, Hossein Nick Zinat Yeo, Yuneil Ngo, Amelie Ju-Kang Paiva, Antonio R. Utke, Jean Monache, Maria Laura Delle |
| contents | We propose a second-order time to collision (TTC) considering non-static acceleration and turning with realistic assumptions. This is equivalent to considering that the steering wheel is held at a fixed angle with constant pressure on the gas or brake pedal and matches the well-known bicycle model. Past works that use acceleration to compute TTC consider only longitudinally aligned acceleration.
We additionally develop and present the Second-Order Time-to-Collision Algorithm using Region-based search (STAR) to efficiently compute the proposed second-order TTC and overcome the current limitations of the existing built-in functions. The evaluation of the algorithm in terms of error and computation time is conducted through statistical analysis.
Through numerical simulations and publicly accessible real-world trajectory datasets, we show that the proposed second-order TTC with non-static acceleration is superior at reflecting accurate collision times, especially when turning is involved. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2502_08066 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Second-Order Time to Collision With Non-Static Acceleration Matin, Hossein Nick Zinat Yeo, Yuneil Ngo, Amelie Ju-Kang Paiva, Antonio R. Utke, Jean Monache, Maria Laura Delle Optimization and Control We propose a second-order time to collision (TTC) considering non-static acceleration and turning with realistic assumptions. This is equivalent to considering that the steering wheel is held at a fixed angle with constant pressure on the gas or brake pedal and matches the well-known bicycle model. Past works that use acceleration to compute TTC consider only longitudinally aligned acceleration. We additionally develop and present the Second-Order Time-to-Collision Algorithm using Region-based search (STAR) to efficiently compute the proposed second-order TTC and overcome the current limitations of the existing built-in functions. The evaluation of the algorithm in terms of error and computation time is conducted through statistical analysis. Through numerical simulations and publicly accessible real-world trajectory datasets, we show that the proposed second-order TTC with non-static acceleration is superior at reflecting accurate collision times, especially when turning is involved. |
| title | Second-Order Time to Collision With Non-Static Acceleration |
| topic | Optimization and Control |
| url | https://arxiv.org/abs/2502.08066 |