Approach to safe vehicle navigation considering dynamics of transport participants in real time

In modern vehicle management systems, usage of navigation systems in complex traffic situations can distract the driver from the road scene and increase the risk of collisions. The proposed approach makes it possible to improve safety in vehicle navigation. To assist the driver, a system for decision-making assistance is being built, taking into account the changing environment and the dynamic characteristics of the surrounding vehicles. When developing a system for decision-making, proposed method uses existing on-board sensors, a video camera and a developed micromodel of moving vehicles in the camera's field of view. The created model transforms the data received from the video camera and other onboard sensors into an actual two-dimensional coordinate system. The reconstructed road scene is proposed to be used as basis for a decision-making support system for safe navigation and forecasting further changes in the dynamic characteristics of the vehicle.