Worst-case Analysis of the Time-To-React Using Reachable Sets

Sebastian Sontges, Markus Koschi, Matthias Althoff

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

26 Scopus citations


Collision mitigation and collision avoidance systems in intelligent vehicles reduce the severity and number of accidents. To determine the optimal point in time at which such systems should intervene, time-based criticality metrics such as the Time-To-React (TTR) are commonly used. The TTR describes the last point in time along the current trajectory at which an evasive trajectory exists. In this paper, we present a novel approach to determine the point in time after which it is guaranteed that no evasive maneuver exists, i.e., by using reachable sets, we over-approximate the TTR. Our deterministic upper bound of the TTR can be used to trigger a collision mitigation system or to find a feasible emergency maneuver which avoids the collision. We demonstrate the efficient computation of the tight over-approximated TTR in different urban and rural traffic scenarios, and compare our results to an estimated TTR using an optimization-based trajectory planner.

Original languageEnglish
Title of host publication2018 IEEE Intelligent Vehicles Symposium, IV 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages7
ISBN (Electronic)9781538644522
StatePublished - 18 Oct 2018
Event2018 IEEE Intelligent Vehicles Symposium, IV 2018 - Changshu, Suzhou, China
Duration: 26 Sep 201830 Sep 2018

Publication series

NameIEEE Intelligent Vehicles Symposium, Proceedings


Conference2018 IEEE Intelligent Vehicles Symposium, IV 2018
CityChangshu, Suzhou


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