{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,2]],"date-time":"2026-06-02T23:59:02Z","timestamp":1780444742809,"version":"3.54.1"},"reference-count":22,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2018,12,7]],"date-time":"2018-12-07T00:00:00Z","timestamp":1544140800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"the National Science Fund for Distinguished Young Scholars","award":["51625507"],"award-info":[{"award-number":["51625507"]}]},{"DOI":"10.13039\/501100001809","name":"the National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51475254"],"award-info":[{"award-number":["51475254"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"the National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51475254"],"award-info":[{"award-number":["51475254"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"the open fund for Jiangsu key laboratory of traffic and transportation security (Huaiyin Institute of Technology)","award":["TTS2017-02"],"award-info":[{"award-number":["TTS2017-02"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Over the past decades, there has been significant research effort dedicated to the development of intelligent vehicles and V2X systems. This paper proposes a road traffic risk assessment method for road traffic accident prevention of intelligent vehicles. This method is based on HMM (Hidden Markov Model) and is applied to the prediction of steering angle status to (1) evaluate the probabilities of the steering angle in each independent interval and (2) calculate the road traffic risk in different analysis regions. According to the model, the road traffic risk is quantified and presented directly in a visual form by the time-varying risk map, to ensure the accuracy of assessment and prediction. Experiment results are presented, and the results show the effectiveness of the assessment strategies.<\/jats:p>","DOI":"10.3390\/s18124313","type":"journal-article","created":{"date-parts":[[2018,12,7]],"date-time":"2018-12-07T03:46:14Z","timestamp":1544154374000},"page":"4313","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":32,"title":["A Novel Framework for Road Traffic Risk Assessment with HMM-Based Prediction Model"],"prefix":"10.3390","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4736-320X","authenticated-orcid":false,"given":"Xunjia","family":"Zheng","sequence":"first","affiliation":[{"name":"State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Di","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Information Engineering, Zhengzhou University, Zhengzhou 450001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5271-1280","authenticated-orcid":false,"given":"Hongbo","family":"Gao","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhiguo","family":"Zhao","sequence":"additional","affiliation":[{"name":"Jiangsu Key Laboratory of Traffic and Transportation Security, Huaiyin Institute of Technology, Huai\u2019an 223001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Heye","family":"Huang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jianqiang","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2018,12,7]]},"reference":[{"key":"ref_1","unstructured":"Vorad, E. (2001, January 4\u20137). The benefit of collision warning systems for commercial vehicles. Proceedings of the ITS America 2001 Annual Meeting, Orlando, FL, US."},{"key":"ref_2","unstructured":"Schl\u00f6gl, M., and St\u00fctz, R. (2017). Methodological considerations with data uncertainty in road safety analysis. Accid. Anal. Prev."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"63","DOI":"10.1016\/j.jsr.2017.06.003","article-title":"Urban street structure and traffic safety","volume":"62","author":"Mohan","year":"2017","journal-title":"J. Saf. Res."},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Staton, C., Vissoci, J., Gong, E., Toomey, N., Wafula, R., Abdelgadir, J., Zhou, Y., Liu, C., Pei, F., and Zick, B. (2016). Road Traffic Injury Prevention Initiatives: A Systematic Review and Metasummary of Effectiveness in Low and Middle Income Countries. PLoS ONE, 11.","DOI":"10.1371\/journal.pone.0144971"},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"437","DOI":"10.1016\/j.aap.2017.07.016","article-title":"Monitoring road safety development at regional level: A case study in the ASEAN region","volume":"106","author":"Chen","year":"2017","journal-title":"Accid. Anal. Prev."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"291","DOI":"10.1016\/j.tra.2010.02.001","article-title":"The statistical analysis of crash-frequency data: A review and assessment of methodological alternatives","volume":"44","author":"Lord","year":"2010","journal-title":"Transp. Res. Part Policy Pract."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"66","DOI":"10.1016\/j.trc.2014.11.002","article-title":"Extending time to collision for probabilistic reasoning in general traffic scenarios","volume":"51","author":"Ward","year":"2015","journal-title":"Transp. Res. Part C Emerg. Technol."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"41","DOI":"10.3141\/2553-05","article-title":"Time headway modeling and capacity analysis of pedestrian facilities involving individuals with disabilities","volume":"2553","author":"Sharifi","year":"2016","journal-title":"Transp. Res. Rec. J. Transp. Res. Board"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"89","DOI":"10.1080\/15389588.2013.782400","article-title":"Safety Evaluation for Expressways: A Comparative Study for Macroscopic and Microscopic Indicators","volume":"15","author":"Qu","year":"2014","journal-title":"Traffic Inj. Prev."},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Date, P.V., and Gaikwad, V. (2017, January 28\u201329). Vision based lane detection and departure warning system. Proceedings of the 2017 International Conference on Signal Processing and Communication (ICSPC), Coimbatore, India.","DOI":"10.1109\/CSPC.2017.8305846"},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"76","DOI":"10.1109\/MITS.2017.2743204","article-title":"On the use of monte-carlo simulation and deep fourier neural network in lane departure warning","volume":"9","author":"Tan","year":"2017","journal-title":"IEEE Intell. Transp. Syst. Mag."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1109\/TITS.2003.811810","article-title":"Fuzzy-logic-based virtual rumble strip for road departure warning systems","volume":"4","author":"Pilutti","year":"2003","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"23","DOI":"10.1109\/100.580977","article-title":"The dynamic window approach to collision avoidance","volume":"4","author":"Fox","year":"1997","journal-title":"IEEE Robot. Autom. Mag."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"125","DOI":"10.1016\/j.robot.2018.08.005","article-title":"The Pc metric: A performance measure for collision avoidance algorithms","volume":"109","author":"Chen","year":"2018","journal-title":"Robot. Auton. Syst."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"1255","DOI":"10.1109\/TITS.2016.2604240","article-title":"A Potential Field-Based Model Predictive Path-Planning Controller for Autonomous Road Vehicles","volume":"18","author":"Rasekhipour","year":"2017","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"2203","DOI":"10.1109\/TITS.2015.2401837","article-title":"The Driving Safety Field Based on Driver\u2013Vehicle\u2013Road Interactions","volume":"16","author":"Wang","year":"2015","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"306","DOI":"10.1016\/j.trc.2016.10.003","article-title":"Driving safety field theory modeling and its application in pre-collision warning system","volume":"72","author":"Wang","year":"2016","journal-title":"Transp. Res. Part C Emerg. Technol."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"1850","DOI":"10.1109\/TITS.2014.2335151","article-title":"Developing a body sensor network to detect emotions during driving","volume":"15","author":"Reyes","year":"2014","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"425","DOI":"10.1109\/TITS.2013.2277737","article-title":"A Survey of Traffic Control with Vehicular Communications","volume":"15","author":"Li","year":"2014","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_20","doi-asserted-by":"crossref","unstructured":"Zheng, X., Wang, J., and Wang, J. (2018, January 5\u20138). A Novel Road Traffic Risk Modeling Approach Based on the Traffic Safety Field Concept. Proceedings of the 18th COTA International Conference of Transportation Professionals: Intelligence, Connectivity, and Mobility, CICTP 2018, Beijing, China.","DOI":"10.1061\/9780784481523.026"},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Ni, D. (2015). Traffic Flow Theory: Characteristics, Experimental Methods, and Numerical Techniques, Butterworth-Heinemann.","DOI":"10.1016\/B978-0-12-804134-5.00002-7"},{"key":"ref_22","unstructured":"Fu, G. (2013). Safety Management-A Behavior-Based Approach to Accident Prevention, Science Press."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/18\/12\/4313\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T15:31:53Z","timestamp":1760196713000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/18\/12\/4313"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,12,7]]},"references-count":22,"journal-issue":{"issue":"12","published-online":{"date-parts":[[2018,12]]}},"alternative-id":["s18124313"],"URL":"https:\/\/doi.org\/10.3390\/s18124313","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,12,7]]}}}