Expressiveness, Equivalence, and Uncertainty in Velocity Obstacles and Closest Point of Approach Metrics

Elizabeth Dietrich, Liam M. Imagawa, Hanna Krasowski +3

Time to Closest Point of Approach (TCPA), Distance to Closest Point of Approach (DCPA), and Velocity Obstacles (VOs), are widely used to assess and mitigate collision risk in auton…