Fig. 1: Visualising the quantification of driver’s perceived risk.
From: Human-like driving behaviour emerges from a risk-based driver model
a This row illustrates Näätänen and Summala’s24 formulation of perceived risk. The consequence of an event (e.g., colliding with a tree) and the driver’s subjective belief about the probability of that event occurring, form the driver’s perceived risk. The driver in the ego car is indicated using the black marker. b This row illustrates the proposed quantification of this perceived risk. The cost of each element in the driving scene is multiplied with the Driver’s Risk Field (DRF) that represents the driver’s belief of the probability of being in a position. This product summed over all grid points generates the estimate of quantified risk.
