Distance Evaluation between Vehicle Trajectories in the Functional Space

A. Koita, D. Daucher, and A.M. Caucci (France)


Modeling, vehicle trajectory, homotopy, distance, risk.


The aim of this paper is to model vehicle trajectories taking into account kinematics and dynamics constraints in order to estimate the distance between trajectories. After giving a mathematical definition of a vehicle trajectory, we introduce a homotopy function representing the functional space of vehicle trajectories. Then, we choose a particular norm to give a topology to the trajectory space. Starting from this norm, we define a distance which enables to compare trajectories each other. Finally, we present simulation results to test the proposed methods. The validation is carried out by means of simulations, using PROSPER software, [1].

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