To enhance precision, rather than displaying the entire future path that vehicle will occupy, only display its occupancy for the respective time horizon. The figure below illustrates 3 occupancy of the ego vehicle for 1s, 2s and 3s in the future for speed of 4/ms.
Atlascar2’s speed: 2m/s; Yellow_car: 2,5 m/s | time horizon: 1s, 2s, 3s
These are the results for the collision risk in each time horizon:
máx mean máx mean máx mean
risk_3: 0.02 0.004 risk_2: 0.0 0.0 risk_1: 0.0 0.0
risk_3: 0.0 0.0 risk_2: 0.0 0.0 risk_1: 0.0 0.0
risk_3: 0.102 0.022 risk_2: 0.0 0.0 risk_1: 0.0 0.0
risk_3: 0.3 0.073 risk_2: 0.0 0.0 risk_1: 0.0 0.0
risk_3: 0.323 0.074 risk_2: 0.0 0.0 risk_1: 0.0 0.0
risk_3: 0.229 0.077 risk_2: 0.0 0.0 risk_1: 0.0 0.0
risk_3: 0.403 0.126 risk_2: 0.0 0.0 risk_1: 0.0 0.0
risk_3: 0.482 0.153 risk_2: 0.0 0.0 risk_1: 0.0 0.0
risk_3: 0.272 0.056 risk_2: 0.73 0.166 risk_1: 0.0 0.0
risk_3: 0.0 0.0 risk_2: 0.85 0.183 risk_1: 0.0 0.0
risk_3: 0.0 0.0 risk_2: 0.782 0.203 risk_1: 0.0 0.0
risk_3: 0.0 0.0 risk_2: 0.589 0.143 risk_1: 0.933 0.315
risk_3: 0.0 0.0 risk_2: 0.0 0.0 risk_1: 0.95 0.373
Atlascar2’s speed: 4m/s; Yellow_car: 2,5 m/s | time horizon: 1s, 2s, 3s
The results for the collision risk here are 0 in every time horizon
