title: Analysis of Driver Evasive Maneuvering Prior to Intersection Crashes Using Event Data Recorders.
abstract: OBJECTIVE
  Intersection crashes account for over 4,500 fatalities in the United States each year. Intersection Advanced Driver Assistance Systems (I-ADAS) are emerging vehicle-based active safety systems that have the potential to help drivers safely navigate across intersections and prevent intersection crashes and injuries. The performance of an I-ADAS is expected to be highly dependent upon driver evasive maneuvering prior to an intersection crash. Little has been published, however, on the detailed evasive kinematics followed by drivers prior to real-world intersection crashes. The objective of this study was to characterize the frequency, timing, and kinematics of driver evasive maneuvers prior to intersection crashes.
  
  
  METHODS
  Event data recorders (EDRs) downloaded from vehicles involved in intersection crashes were investigated as part of NASS-CDS years 2001 to 2013. A total of 135 EDRs with precrash vehicle speed and braking application were downloaded to investigate evasive braking. A smaller subset of 59 EDRs that collected vehicle yaw rate was additionally analyzed to investigate evasive steering. Each vehicle was assigned to one of 3 precrash movement classifiers (traveling through the intersection, completely stopped, or rolling stop) based on the vehicle's calculated acceleration and observed velocity profile. To ensure that any significant steering input observed was an attempted evasive maneuver, the analysis excluded vehicles at intersections that were turning, driving on a curved road, or performing a lane change. Braking application at the last EDR-recorded time point was assumed to indicate evasive braking. A vehicle yaw rate greater than 4° per second was assumed to indicate an evasive steering maneuver.
  
  
  RESULTS
  Drivers executed crash avoidance maneuvers in four-fifths of intersection crashes. A more detailed analysis of evasive braking frequency by precrash maneuver revealed that drivers performing complete or rolling stops (61.3%) braked less often than drivers traveling through the intersection without yielding (79.0%). After accounting for uncertainty in the timing of braking and steering data, the median evasive braking time was found to be between 0.5 to 1.5 s prior to impact, and the median initial evasive steering time was found to occur between 0.5 and 0.9 s prior to impact. The median average evasive braking deceleration for all cases was found to be 0.58 g. The median of the maximum evasive vehicle yaw rates was found to be 8.2° per second. Evasive steering direction was found to be most frequently in the direction of travel of the approaching vehicle.
  
  
  CONCLUSIONS
  The majority of drivers involved in intersection crashes were alert enough to perform an evasive action. Most drivers used a combination of steering and braking to avoid a crash. The average driver attempted to steer and brake at approximately the same time prior to the crash.
authors.affiliation: a Biomedical Engineering and Mechanics Department , Virginia Tech , Blacksburg , Virginia.
authors.forename: John M
authors.initials: JM
authors.lastname: Scanlon
authors.affiliation: a Biomedical Engineering and Mechanics Department , Virginia Tech , Blacksburg , Virginia.
authors.forename: Kristofer D
authors.initials: KD
authors.lastname: Kusano
authors.affiliation: a Biomedical Engineering and Mechanics Department , Virginia Tech , Blacksburg , Virginia.
authors.forename: Hampton C
authors.initials: HC
authors.lastname: Gabler
mesh_terms: D000054:Acceleration; D000063:Accidents, Traffic / Q000517:prevention & control*; D001334:Automobile Driving / Q000523:psychology* / Q000706:statistics & numerical data*; D001696:Biomechanical Phenomena; D003625:Data Collection / Q000295:instrumentation / Q000379:methods; D016208:Databases, Factual; D003654:Deceleration; D004779:Environment Design / Q000706:statistics & numerical data*; D006801:Humans; D013997:Time Factors; D014481:United States
keywords: NASS-CDS; active safety; crash avoidance; driver assistance systems; event data recorder; intersections