{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,17]],"date-time":"2026-03-17T23:07:45Z","timestamp":1773788865589,"version":"3.50.1"},"reference-count":108,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"1","license":[{"start":{"date-parts":[[2019,3,1]],"date-time":"2019-03-01T00:00:00Z","timestamp":1551398400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2019,3,1]],"date-time":"2019-03-01T00:00:00Z","timestamp":1551398400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2019,3,1]],"date-time":"2019-03-01T00:00:00Z","timestamp":1551398400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"Swedish Governmental Agency for Innovation Systems\/FFI","award":["2014-05621"],"award-info":[{"award-number":["2014-05621"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Intell. Veh."],"published-print":{"date-parts":[[2019,3]]},"DOI":"10.1109\/tiv.2018.2886682","type":"journal-article","created":{"date-parts":[[2018,12,13]],"date-time":"2018-12-13T20:51:55Z","timestamp":1544734315000},"page":"101-113","source":"Crossref","is-referenced-by-count":122,"title":["Collision Avoidance: A Literature Review on Threat-Assessment Techniques"],"prefix":"10.1109","volume":"4","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0464-2161","authenticated-orcid":false,"given":"John","family":"Dahl","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8218-6915","authenticated-orcid":false,"given":"Gabriel Rodrigues","family":"de Campos","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6424-4819","authenticated-orcid":false,"given":"Claes","family":"Olsson","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9814-6416","authenticated-orcid":false,"given":"Jonas","family":"Fredriksson","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"crossref","first-page":"196","DOI":"10.1007\/978-3-642-39698-4_12","article-title":"Proving safety of traffic manoeuvres on country roads","volume":"8051","author":"hilscher","year":"2013","journal-title":"Theories of Programming and Formal Methods"},{"key":"ref38","first-page":"404","article-title":"An abstract model for proving safety of multi-lane traffic manoeuvres","volume":"6991","author":"hilscher","year":"0","journal-title":"Proc 1st Int Conf Formal Engineering Methods"},{"key":"ref33","author":"baier","year":"2008","journal-title":"Principles of Model Checking"},{"key":"ref32","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-319-50763-7","author":"belta","year":"2017","journal-title":"Formal Methods for Discrete-Time Dynamical Systems"},{"key":"ref31","author":"tabuada","year":"2008","journal-title":"Verification and Control of Hybrid Systems"},{"key":"ref30","first-page":"12008","article-title":"Asynchronous algorithm for optimal vehicle coordination at traffic intersections","author":"zanon","year":"0","journal-title":"Proc World Congr Int Fed Autom Control"},{"key":"ref37","first-page":"42","article-title":"Adaptive cruise control: Hybrid, distributed, and now formally verified","volume":"6664","author":"loos","year":"0","journal-title":"Proc Int Symp Formal Methods"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2014.2381453"},{"key":"ref35","article-title":"Reachability analysis and its application to the safety assessment of autonomous cars","author":"althoff","year":"2010"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2013.02.003"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2015.7170826"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2014.6856575"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2016.7798649"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2016.7526608"},{"key":"ref22","author":"rawlings","year":"2012","journal-title":"Model Predictive Control Theory and Design"},{"key":"ref21","first-page":"968","article-title":"A new threat assessment measure for collision avoidance systems","author":"zhang","year":"0","journal-title":"Proc IEEE Intell Transp Syst Conf"},{"key":"ref24","doi-asserted-by":"crossref","first-page":"39","DOI":"10.1007\/978-3-642-19457-3_3","article-title":"Design and development of an optimal-control-based framework for trajectory planning, threat assessment, and semi-autonomous control of passenger vehicles in hazard avoidance scenarios","volume":"70","author":"anderson","year":"2011","journal-title":"Robot Res"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1017\/9781139061759"},{"key":"ref101","doi-asserted-by":"publisher","DOI":"10.1109\/MITS.2016.2583491"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2013.6728575"},{"key":"ref100","doi-asserted-by":"publisher","DOI":"10.1007\/s40534-016-0117-3"},{"key":"ref25","article-title":"A unified framework for trajectory planning, threat assessment, and semi-autonomous control of passenger vehicles","author":"anderson","year":"2009"},{"key":"ref50","first-page":"2932","article-title":"Cooperative receding horizon conflict resolution at traffic intersections","author":"rodrigues de campos","year":"0","journal-title":"Proc IEEE Conf Decis Control"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1109\/9.664154"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1016\/S0005-1098(98)00193-9"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7354056"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2014.6859163"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2013.6760492"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2013.2252901"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1145\/2185632.2185656"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2011.942114"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.1076"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1017\/S0960129512000230"},{"key":"ref4","article-title":"A time based analysis of road user behaviour in normal and critical encounters","author":"van der horst","year":"1990"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2016.2578706"},{"key":"ref6","first-page":"109","article-title":"Time-to-collision and collision avoidance systems","author":"van der horst","year":"0","journal-title":"Proceedings of the 6th ICTCT Workshop in Salzburg"},{"key":"ref5","article-title":"Near-miss determination through use of a scale of danger","author":"hayward","year":"1971"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2011.2158210"},{"key":"ref49","first-page":"1456","article-title":"Autonomous cooperative driving: a velocity-based negotiation approach for intersection crossing","author":"rodrigues de campos","year":"0","journal-title":"Proc IEEE Conf Intell Transp Syst"},{"key":"ref7","first-page":"171","author":"jansson","year":"2005","journal-title":"Collision avoidance theory with application to automotive collision mitigation"},{"key":"ref9","first-page":"24","article-title":"Refining the camp crash alert timing approach by examining&#x201D; last second&#x201D; braking and lane change maneuvers under various kinematic conditions","author":"kiefer","year":"2004","journal-title":"Accident Investigation Quarterly"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2017.8263685"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2017.7995951"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/MITS.2016.2630585"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2011.5991088"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2011.2107584"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2015.269"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2016.2622920"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2014.2312453"},{"key":"ref73","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2009.2018966"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2014.2369737"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2007.909241"},{"key":"ref70","first-page":"233","article-title":"Monte carlo based threat assessment: Analysis and improvements","author":"danielsson","year":"2007","journal-title":"IEEE Intell Vehicles Symp"},{"key":"ref76","article-title":"Risk estimation at road intersections for connected vehicle safety applications","author":"lef\u00e8vre","year":"2012"},{"key":"ref77","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2016.7535531"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2011.2157342"},{"key":"ref75","first-page":"649","article-title":"Collision avoidance at intersections: A probabilistic threat-assessment and decision-making system for safety interventions","author":"rodrigues de campos","year":"0","journal-title":"Proc IEEE Int Conf Intell Transp Syst"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1109\/MITS.2014.2357038"},{"key":"ref79","article-title":"Developing an advanced collision risk model for autonomous vehicles","author":"katrakazas","year":"2017"},{"key":"ref60","article-title":"Robust constraint satisfaction: Invariant sets and predictive control","author":"kerrigan","year":"2000"},{"key":"ref62","first-page":"1707","article-title":"Optimal and least restrictive supervisory control: Safety verification methods for human-driven vehicles at traffic intersections","author":"rodrigues de campos","year":"0","journal-title":"Proc 54th IEEE Conf Decis Control"},{"key":"ref61","author":"pinedo","year":"2008","journal-title":"Scheduling Theory Algorithms and Systems"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2017.2676464"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.1137\/090761203"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1007\/s10626-016-0228-3"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2017.8317647"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2006.03.005"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2005.1505122"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2015.2498841"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2006.1707381"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1186\/s40648-014-0001-z"},{"key":"ref95","first-page":"1","article-title":"End to end learning for self-driving cars","author":"bojarski","year":"2016"},{"key":"ref108","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2016.7798822"},{"key":"ref94","first-page":"1782","article-title":"Spatio-temporal representation of driving scenarios and classification using neural networks","author":"gruner","year":"0","journal-title":"Proc IEEE Intell Vehicles Symp"},{"key":"ref107","doi-asserted-by":"publisher","DOI":"10.1007\/s001860200227"},{"key":"ref93","doi-asserted-by":"publisher","DOI":"10.1515\/jaiscr-2017-0017"},{"key":"ref106","author":"kouvaritakis","year":"2015","journal-title":"Model Predictive Control Classical Robust and Stochastic"},{"key":"ref92","doi-asserted-by":"publisher","DOI":"10.1109\/MTITS.2017.8005678"},{"key":"ref105","author":"bemporad","year":"2007","journal-title":"Robust Model Predictive Control A Survey"},{"key":"ref91","first-page":"1837","article-title":"Autonomous driving: A comparison of machine learning techniques by means of the prediction of lane change behavior","author":"urun","year":"0","journal-title":"Proc IEEE Int Conf Robot Biomimetics"},{"key":"ref104","first-page":"1021","article-title":"Robust model predictive control","author":"campo","year":"0","journal-title":"Proc IEEE Amer Control Conf"},{"key":"ref90","doi-asserted-by":"publisher","DOI":"10.3390\/app7050457"},{"key":"ref103","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2004.04.014"},{"key":"ref102","doi-asserted-by":"publisher","DOI":"10.4271\/2016-01-0128"},{"key":"ref98","doi-asserted-by":"publisher","DOI":"10.1109\/ICIT.2017.7913281"},{"key":"ref99","doi-asserted-by":"crossref","first-page":"159","DOI":"10.1016\/J.ENG.2016.02.010","article-title":"Autonomous driving in the iCity&#x2014;HD maps as a key challenge of the automotive industry","volume":"2","author":"seif","year":"2016","journal-title":"Engineering"},{"key":"ref96","first-page":"1","article-title":"Explaining how a deep neural network trained with end-to-end learning steers a car","author":"bojarski","year":"2017"},{"key":"ref97","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2017.7995938"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1016\/j.aap.2004.09.003"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ICCAS.2014.6987906"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2018.8500709"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2011.5940482"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2009.5164356"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2010.2048314"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2011.6082801"},{"key":"ref82","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2010.2097594"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2013.6629586"},{"key":"ref81","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2009.5164357"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2013.6728349"},{"key":"ref84","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2008.01.016"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2015.2419196"},{"key":"ref83","doi-asserted-by":"publisher","DOI":"10.23919\/ACC.2004.1384441"},{"key":"ref80","doi-asserted-by":"publisher","DOI":"10.1109\/ICARCV.2006.345399"},{"key":"ref89","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2013.6728466"},{"key":"ref85","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2011.5940554"},{"key":"ref86","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2012.2227474"},{"key":"ref87","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2017.2788208"},{"key":"ref88","doi-asserted-by":"publisher","DOI":"10.1145\/3054912"}],"container-title":["IEEE Transactions on Intelligent Vehicles"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/7274857\/8649836\/08574961.pdf?arnumber=8574961","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,7,13]],"date-time":"2022-07-13T20:46:28Z","timestamp":1657745188000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8574961\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,3]]},"references-count":108,"journal-issue":{"issue":"1"},"URL":"https:\/\/doi.org\/10.1109\/tiv.2018.2886682","relation":{},"ISSN":["2379-8904","2379-8858"],"issn-type":[{"value":"2379-8904","type":"electronic"},{"value":"2379-8858","type":"print"}],"subject":[],"published":{"date-parts":[[2019,3]]}}}