A sensor based assessment of imminent collisions at right angle intersections

This report summarizes the feasibility of using light detection and ranging (LIDAR) data to track an oncoming vehicle at a right angle intersection with the ultimate goal of determining the severity of a potential collision. The vehicle tracking system (VTS) that was developed to transform raw LIDAR data into a useable format and track potential vehicles during consecutive scans will be described in detail. Furthermore, the results from tests using the VTS to track approaching vehicles on both simulated and experimental LIDAR data will be provided.