<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-00645046</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-05-25T02:14:20+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">Probabilistic Analysis of Dynamic Scenes and Collision Risk Assessment to Improve Driving Safety</title>
            <author role="aut">
              <persName>
                <forename type="first">Christian</forename>
                <surname>Laugier</surname>
              </persName>
              <email type="md5">3de3966bdd6282b0ba8c5fe356bdb9b5</email>
              <email type="domain">inria.fr</email>
              <idno type="idhal" notation="string">christian-laugier</idno>
              <idno type="idhal" notation="numeric">171145</idno>
              <idno type="halauthorid" notation="string">405-171145</idno>
              <idno type="IDREF">https://www.idref.fr/032811209</idno>
              <orgName ref="#struct-300009"/>
              <affiliation ref="#struct-44462"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Igor</forename>
                <surname>Paromtchik</surname>
              </persName>
              <email type="md5">9f7e14c39e814b0ae9546e2c3dc5f525</email>
              <email type="domain">inria.fr</email>
              <idno type="idhal" notation="numeric">883304</idno>
              <idno type="halauthorid" notation="string">105367-883304</idno>
              <orgName ref="#struct-300009"/>
              <affiliation ref="#struct-44462"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Mathias</forename>
                <surname>Perrollaz</surname>
              </persName>
              <email type="md5">f44fab9524fe1569d87151a16d079769</email>
              <email type="domain">inria.fr</email>
              <idno type="idhal" notation="numeric">872284</idno>
              <idno type="halauthorid" notation="string">378148-872284</idno>
              <orgName ref="#struct-300009"/>
              <affiliation ref="#struct-44462"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Yong</forename>
                <surname>Mao</surname>
              </persName>
              <idno type="halauthorid">362695-0</idno>
              <orgName ref="#struct-300009"/>
              <affiliation ref="#struct-44462"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">John-David</forename>
                <surname>Yoder</surname>
              </persName>
              <email type="md5">12b3512cdc223ccf65567111745598f6</email>
              <email type="domain">onu.edu</email>
              <idno type="idhal" notation="numeric">880884</idno>
              <idno type="halauthorid" notation="string">498496-880884</idno>
              <orgName ref="#struct-367258"/>
              <affiliation ref="#struct-130427"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Christopher</forename>
                <surname>Tay</surname>
              </persName>
              <idno type="halauthorid">142637-0</idno>
              <affiliation ref="#struct-59903"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Kamel</forename>
                <surname>Mekhnacha</surname>
              </persName>
              <email type="md5">84561c64b3876026c5d33abb8b4423e9</email>
              <email type="domain">probayes.com</email>
              <idno type="idhal" notation="numeric">849018</idno>
              <idno type="halauthorid" notation="string">105658-849018</idno>
              <affiliation ref="#struct-59903"/>
            </author>
            <author role="crp">
              <persName>
                <forename type="first">Amaury</forename>
                <surname>Nègre</surname>
              </persName>
              <email type="md5">2d25603a9598f9bd0ee300ebddce660a</email>
              <email type="domain">gipsa-lab.grenoble-inp.fr</email>
              <idno type="idhal" notation="string">amaury-negre</idno>
              <idno type="idhal" notation="numeric">745224</idno>
              <idno type="halauthorid" notation="string">31985-745224</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-1265-8702</idno>
              <idno type="IDREF">https://www.idref.fr/13928057X</idno>
              <affiliation ref="#struct-44462"/>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Mathias</forename>
                <surname>Perrollaz</surname>
              </persName>
              <email type="md5">f44fab9524fe1569d87151a16d079769</email>
              <email type="domain">inria.fr</email>
            </editor>
          </titleStmt>
          <editionStmt>
            <edition n="v1" type="current">
              <date type="whenSubmitted">2012-05-25 07:00:12</date>
              <date type="whenModified">2025-09-27 19:43:50</date>
              <date type="whenReleased">2011-11-28 11:28:31</date>
              <date type="whenProduced">2011-11-01</date>
              <date type="whenEndEmbargoed">2012-05-25</date>
              <ref type="file" target="https://inria.hal.science/hal-00645046v1/document">
                <date notBefore="2012-05-25"/>
              </ref>
              <ref type="file" subtype="greenPublisher" n="1" target="https://inria.hal.science/hal-00645046v1/file/Paper_ITSMag_Published.pdf" id="file-645046-411111">
                <date notBefore="2012-05-25"/>
              </ref>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="152472">
                <persName>
                  <forename>Mathias</forename>
                  <surname>Perrollaz</surname>
                </persName>
                <email type="md5">f44fab9524fe1569d87151a16d079769</email>
                <email type="domain">inria.fr</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-00645046</idno>
            <idno type="halUri">https://inria.hal.science/hal-00645046</idno>
            <idno type="halBibtex">laugier:hal-00645046</idno>
            <idno type="halRefHtml">&lt;i&gt;Its Journal&lt;/i&gt;, 2011, 3 (4), pp.4-19. &lt;a target="_blank" href="https://dx.doi.org/10.1109/MITS.2011.942779"&gt;&amp;#x27E8;10.1109/MITS.2011.942779&amp;#x27E9;&lt;/a&gt;</idno>
            <idno type="halRef">Its Journal, 2011, 3 (4), pp.4-19. &amp;#x27E8;10.1109/MITS.2011.942779&amp;#x27E9;</idno>
            <availability status="restricted">
              <licence target="https://about.hal.science/hal-authorisation-v1/">HAL Authorization<ref corresp="#file-645046-411111"/></licence>
            </availability>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="UGA">HAL Grenoble Alpes</idno>
            <idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
            <idno type="stamp" n="INRIA">INRIA - Institut National de Recherche en Informatique et en Automatique</idno>
            <idno type="stamp" n="UNIV-GRENOBLE1">Université Joseph Fourier - Grenoble I</idno>
            <idno type="stamp" n="UNIV-PMF_GRENOBLE">Université Pierre-Mendès-France - Grenoble II</idno>
            <idno type="stamp" n="INPG">Institut polytechnique de Grenoble</idno>
            <idno type="stamp" n="INRIA-RHA">INRIA Grenoble - Rhône-Alpes</idno>
            <idno type="stamp" n="LIG">Laboratoire d'Informatique de Grenoble</idno>
            <idno type="stamp" n="INRIA_TEST">INRIA - Institut National de Recherche en Informatique et en Automatique</idno>
            <idno type="stamp" n="LIG_SIC_E-MOTION" corresp="LIG_SIC">E-MOTION</idno>
            <idno type="stamp" n="TESTALAIN1">TESTALAIN1</idno>
            <idno type="stamp" n="INRIA2">INRIA 2</idno>
            <idno type="stamp" n="INRIA-RENGRE">INRIA-RENGRE</idno>
            <idno type="stamp" n="INRIA-300009">Inria 300009</idno>
            <idno type="stamp" n="LIG_SIDCH" corresp="LIG">Systèmes intelligents pour les données, les connaissances et les humains</idno>
            <idno type="stamp" n="INRIA-ETATSUNIS">Copublications Inria-Etats-Unis</idno>
            <idno type="stamp" n="TEST-UGA">TEST-UGA</idno>
          </seriesStmt>
          <notesStmt>
            <note type="audience" n="2">International</note>
            <note type="popular" n="0">No</note>
            <note type="peer" n="1">Yes</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="en">Probabilistic Analysis of Dynamic Scenes and Collision Risk Assessment to Improve Driving Safety</title>
                <author role="aut">
                  <persName>
                    <forename type="first">Christian</forename>
                    <surname>Laugier</surname>
                  </persName>
                  <email type="md5">3de3966bdd6282b0ba8c5fe356bdb9b5</email>
                  <email type="domain">inria.fr</email>
                  <idno type="idhal" notation="string">christian-laugier</idno>
                  <idno type="idhal" notation="numeric">171145</idno>
                  <idno type="halauthorid" notation="string">405-171145</idno>
                  <idno type="IDREF">https://www.idref.fr/032811209</idno>
                  <orgName ref="#struct-300009"/>
                  <affiliation ref="#struct-44462"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Igor</forename>
                    <surname>Paromtchik</surname>
                  </persName>
                  <email type="md5">9f7e14c39e814b0ae9546e2c3dc5f525</email>
                  <email type="domain">inria.fr</email>
                  <idno type="idhal" notation="numeric">883304</idno>
                  <idno type="halauthorid" notation="string">105367-883304</idno>
                  <orgName ref="#struct-300009"/>
                  <affiliation ref="#struct-44462"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Mathias</forename>
                    <surname>Perrollaz</surname>
                  </persName>
                  <email type="md5">f44fab9524fe1569d87151a16d079769</email>
                  <email type="domain">inria.fr</email>
                  <idno type="idhal" notation="numeric">872284</idno>
                  <idno type="halauthorid" notation="string">378148-872284</idno>
                  <orgName ref="#struct-300009"/>
                  <affiliation ref="#struct-44462"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Yong</forename>
                    <surname>Mao</surname>
                  </persName>
                  <idno type="halauthorid">362695-0</idno>
                  <orgName ref="#struct-300009"/>
                  <affiliation ref="#struct-44462"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">John-David</forename>
                    <surname>Yoder</surname>
                  </persName>
                  <email type="md5">12b3512cdc223ccf65567111745598f6</email>
                  <email type="domain">onu.edu</email>
                  <idno type="idhal" notation="numeric">880884</idno>
                  <idno type="halauthorid" notation="string">498496-880884</idno>
                  <orgName ref="#struct-367258"/>
                  <affiliation ref="#struct-130427"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Christopher</forename>
                    <surname>Tay</surname>
                  </persName>
                  <idno type="halauthorid">142637-0</idno>
                  <affiliation ref="#struct-59903"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Kamel</forename>
                    <surname>Mekhnacha</surname>
                  </persName>
                  <email type="md5">84561c64b3876026c5d33abb8b4423e9</email>
                  <email type="domain">probayes.com</email>
                  <idno type="idhal" notation="numeric">849018</idno>
                  <idno type="halauthorid" notation="string">105658-849018</idno>
                  <affiliation ref="#struct-59903"/>
                </author>
                <author role="crp">
                  <persName>
                    <forename type="first">Amaury</forename>
                    <surname>Nègre</surname>
                  </persName>
                  <email type="md5">2d25603a9598f9bd0ee300ebddce660a</email>
                  <email type="domain">gipsa-lab.grenoble-inp.fr</email>
                  <idno type="idhal" notation="string">amaury-negre</idno>
                  <idno type="idhal" notation="numeric">745224</idno>
                  <idno type="halauthorid" notation="string">31985-745224</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-1265-8702</idno>
                  <idno type="IDREF">https://www.idref.fr/13928057X</idno>
                  <affiliation ref="#struct-44462"/>
                </author>
              </analytic>
              <monogr>
                <idno type="halJournalId" status="VALID">14252</idno>
                <idno type="issn">1024-8072</idno>
                <title level="j">Its Journal</title>
                <imprint>
                  <publisher>Informa UK (Taylor &amp; Francis)</publisher>
                  <biblScope unit="volume">3</biblScope>
                  <biblScope unit="issue">4</biblScope>
                  <biblScope unit="pp">4-19</biblScope>
                  <date type="datePub">2011-11-01</date>
                </imprint>
              </monogr>
              <idno type="doi">10.1109/MITS.2011.942779</idno>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <keywords scheme="author">
                <term xml:lang="it">Collision avoidance</term>
                <term xml:lang="it">Motion control</term>
                <term xml:lang="it">Probabilistic logic</term>
                <term xml:lang="it">Risk management</term>
                <term xml:lang="it">Safety</term>
                <term xml:lang="it">Sensor fusion</term>
              </keywords>
              <classCode scheme="halDomain" n="info.info-rb">Computer Science [cs]/Robotics [cs.RO]</classCode>
              <classCode scheme="halDomain" n="spi.signal">Engineering Sciences [physics]/Signal and Image processing</classCode>
              <classCode scheme="halDomain" n="info.info-ts">Computer Science [cs]/Signal and Image Processing</classCode>
              <classCode scheme="halDomain" n="info.info-cv">Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV]</classCode>
              <classCode scheme="halTypology" n="ART">Journal articles</classCode>
              <classCode scheme="halOldTypology" n="ART">Journal articles</classCode>
              <classCode scheme="halTreeTypology" n="ART">Journal articles</classCode>
            </textClass>
            <abstract xml:lang="en">
              <p>The article deals with the analysis and interpretation of dynamic scenes typical of urban driving. The key objective is to assess risks of collision for the ego-vehicle. We describe our concept and methods, which we have integrated and tested on our experimental platform on a Lexus car and a driving simulator. The on-board sensors deliver visual, telemetric and inertial data for environment monitoring. The sensor fusion uses our Bayesian Occupancy Filter for a spatio-temporal grid representation of the traffic scene. The underlying probabilistic approach is capable of dealing with uncertainties when modeling the environment as well as detecting and tracking dynamic objects. The collision risks are estimated as stochastic variables and are predicted for a short period ahead with the use of Hidden Markov Models and Gaussian processes. The software implementation takes advantage of our methods, which allow for parallel computation. Our tests have proven the relevance and feasibility of our approach for improving the safety of car driving.</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="researchteam" xml:id="struct-44462" status="OLD">
          <idno type="RNSR">200418270W</idno>
          <orgName>Geometry and Probability for Motion and Action</orgName>
          <orgName type="acronym">E-MOTION</orgName>
          <date type="start">2007-01-01</date>
          <date type="end">2014-12-31</date>
          <desc>
            <address>
              <addrLine>Inria Grenoble Rhône-Alpes 655 avenue de l'Europe - Montbonnot 38334 Saint Ismier Cedex, France</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.inria.fr/equipes/e-motion</ref>
          </desc>
          <listRelation>
            <relation active="#struct-2497" type="direct"/>
            <relation active="#struct-300009" type="indirect"/>
            <relation active="#struct-24471" type="direct"/>
            <relation active="#struct-3886" type="indirect"/>
            <relation active="#struct-51016" type="indirect"/>
            <relation active="#struct-89889" type="indirect"/>
            <relation active="#struct-300275" type="indirect"/>
            <relation name="UMR5217" active="#struct-441569" type="indirect"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-130427" status="VALID">
          <orgName>Ohio Northern University</orgName>
          <desc>
            <address>
              <addrLine>525 S. Main Street Ada OH 45810 PH: 419-772-2000</addrLine>
              <country key="US"/>
            </address>
          </desc>
          <listRelation>
            <relation active="#struct-367258" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-59903" status="VALID">
          <orgName>Probayes [Montbonnot]</orgName>
          <desc>
            <address>
              <addrLine>82, Allée Galilée - Inovallée38330 Montbonnot</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.probayes.com/</ref>
          </desc>
        </org>
        <org type="laboratory" xml:id="struct-2497" status="VALID">
          <idno type="RNSR">199218244V</idno>
          <idno type="ROR">https://ror.org/00n8d6z93</idno>
          <orgName>Centre Inria de l'Université Grenoble Alpes</orgName>
          <desc>
            <address>
              <addrLine>Inovallée655 avenue de l'Europe38330 Montbonnot</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.inria.fr/centre/grenoble</ref>
          </desc>
          <listRelation>
            <relation active="#struct-300009" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-300009" status="VALID">
          <idno type="ROR">https://ror.org/02kvxyf05</idno>
          <orgName>Institut National de Recherche en Informatique et en Automatique</orgName>
          <orgName type="acronym">Inria</orgName>
          <desc>
            <address>
              <addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.inria.fr/en/</ref>
          </desc>
        </org>
        <org type="laboratory" xml:id="struct-24471" status="OLD">
          <idno type="IdRef">148425550</idno>
          <idno type="ISNI">0000 0001 2286 4035 </idno>
          <idno type="RNSR">200711886U</idno>
          <idno type="ROR">https://ror.org/01c8rcg82</idno>
          <orgName>Laboratoire d'Informatique de Grenoble</orgName>
          <orgName type="acronym">LIG</orgName>
          <date type="start">2007-01-01</date>
          <date type="end">2015-12-31</date>
          <desc>
            <address>
              <addrLine>UMR 5217 - Laboratoire LIG - Bâtiment IMAG - 700 avenue Centrale - Domaine Universitaire de Saint-Martin-d’Hères Adresse postale : CS 40700 - 38058 Grenoble cedex 9 - France Tél. : 04 57 42 14 00</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.liglab.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-3886" type="direct"/>
            <relation active="#struct-51016" type="direct"/>
            <relation active="#struct-89889" type="direct"/>
            <relation active="#struct-300275" type="direct"/>
            <relation name="UMR5217" active="#struct-441569" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-3886" status="OLD">
          <idno type="IdRef">02640432X</idno>
          <idno type="ROR">https://ror.org/02f7wz369</idno>
          <orgName>Université Pierre Mendès France - Grenoble 2</orgName>
          <orgName type="acronym">UPMF</orgName>
          <date type="end">2015-12-31</date>
          <desc>
            <address>
              <addrLine>BP 47 - 38040 Grenoble Cedex 9</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.upmf-grenoble.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-51016" status="OLD">
          <idno type="IdRef">026404796</idno>
          <idno type="ROR">https://ror.org/02aj0kh94</idno>
          <orgName>Université Joseph Fourier - Grenoble 1</orgName>
          <orgName type="acronym">UJF</orgName>
          <date type="end">2015-12-31</date>
          <desc>
            <address>
              <addrLine>BP 53 - 38041 Grenoble Cedex 9</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.ujf-grenoble.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-89889" status="OLD">
          <idno type="IdRef">026388804</idno>
          <idno type="ROR">https://ror.org/05sbt2524</idno>
          <orgName>Institut polytechnique de Grenoble - Grenoble Institute of Technology</orgName>
          <orgName type="acronym">Grenoble INP</orgName>
          <date type="start">2007-01-01</date>
          <date type="end">2019-12-31</date>
          <desc>
            <address>
              <addrLine>46 avenue Félix Viallet 38031 Grenoble Cedex 1</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.grenoble-inp.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-300275" status="OLD">
          <idno type="IdRef">026388804</idno>
          <orgName>Institut National Polytechnique de Grenoble</orgName>
          <orgName type="acronym">INPG</orgName>
          <date type="end">2006-12-31</date>
          <desc>
            <address>
              <addrLine>46 avenue Félix Viallet 38031 Grenoble Cedex 1</addrLine>
              <country key="FR"/>
            </address>
          </desc>
        </org>
        <org type="regroupinstitution" xml:id="struct-441569" status="VALID">
          <idno type="IdRef">02636817X</idno>
          <idno type="ISNI">0000000122597504</idno>
          <idno type="ROR">https://ror.org/02feahw73</idno>
          <orgName>Centre National de la Recherche Scientifique</orgName>
          <orgName type="acronym">CNRS</orgName>
          <date type="start">1939-10-19</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.cnrs.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-367258" status="VALID">
          <idno type="ISNI">0000 0001 2187 1348</idno>
          <idno type="ROR">https://ror.org/052963a64</idno>
          <orgName>Ohio Northern University</orgName>
          <desc>
            <address>
              <addrLine>525 S Main St, Ada, OH 45810, États-Unis</addrLine>
              <country key="US"/>
            </address>
            <ref type="url">https://www.onu.edu/</ref>
          </desc>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>