… future risk estimation. Using this risk estimation, we introduce predictive risk maps based on
… will be in the future and we use them for future behavior evaluation and planning. Explicitly …

… get a predictive risk map in the (xe,ve)plane as Risk(xe,ve) The predictive risk map indicates
how risky a certain behavior (in … Predictive risk maps can then be employed to plan future …

… risk, we build so-called predictive risk maps, one for each possible situation, and plan the own
behavior while minimizing overall risk … approach generates efficient behavior for situations …

… select the behavior based on these options. In future work, we will apply the predictive risk
estimation in combination with risk maps to trajectory evaluation, selection and planning of …

… areas and parked cars. By evaluating behavior predictions with so-called Risk Maps (RM),
we … The proposed ADAS of this paper thus leverages the predictive nature in planning, while …

… the predictive occupancy map as a motion planning approach … ) the two-dimensional crash
danger assessment of surrounding … Li, “Type-2 fuzzy control for driving state and behavioral …

… the risks in the correct domain space for effective planning… risks is performed by employing
prototypical trajectories for traffic participant prediction with the analysis resulting in a risk map …

… Map (POM), which can simultaneously identify potential risks in … of all-around risk assessment
and multi-vehicle risk assessment … Kojima, ‘‘Humanlike behavior generation for intelligent …

… from RTM and for planning appropriate interventions to mitigate risks in a direct fashion. … to
predict the types of behavior that we would expect in this area, reducing the likelihood that our …

… risk-aware planning problem and methods used to find the solution. In Section 4., we describe
methods and algorithms used to create risk maps … assume that the behavior of the glider is …