Usage

  1. Place the four scripts: MAIN_5.m, MAIN_6_7.m, C_PROB.m, reachable.m ,roadBoundaryEncounter.xlsx , encounter6.xlsx and encounter7.xlsxin one folder.
  2. Run MAIN_5.m from MATLAB to create figure 5
  3. RUN MAIN_6_7.m to create Figure 6 and 7. Follow the instructions in line 2 and 4 to choose between the two figures.

Description of the scripts

These scripts were used to create Figure 8 and Figure 9 in the following article:

Mullakkal-Babu, Freddy A., et al. "Probabilistic field approach for motorway driving risk assessment." Transportation research part C: emerging technologies 118 (2020): 102716.

MAIN_5.m

MAIN_6-7.m

C_PROB.m

This function calculates the crash probability between two vehicles at a given future time step. This function calls the helper reachable.m to estimate the reachable region of a vehicle.

reachable.m

This function calculates the reachable region of a vehicle at a future time step, based on its initial kinematic state and vehicle dynamics constraints.

.xlsx files

These are trajectory samples from three near-crash events selected from 100 vehicles naturalistic study dataset. The roadBoundaryEncounter.xlsx corresponds to trip number 8299; encounter6.xlsx corresponds to trip number 8450, and encounter7.xlsx corresponds to trip number 8424

The xlsx file contains the following columns

  1. X: Longitudinal position of the subject in m
  2. Y: Lateral position of the subject in m
  3. VX: Longitudinal velocity of the subject in m/s
  4. VY: Lateral velocity of subject in m/s
  5. Longitudinal position of leader in m
  6. Lateral position of leader in m
  7. Longitudinal velocity of leader in m/s
  8. Lateral velocity of leader in m/s