R. Horowitz and P. Varaiya, Control design of an automated highway system, Proceedings of the IEEE, vol.88, issue.7, 2000.
DOI : 10.1109/5.871301

I. E. Paromtchik and C. Laugier, Automatic parallel parking and returning to traffic manoeuvres, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97, 1998.
DOI : 10.1109/IROS.1997.656803

I. E. Paromtchik, Planning control commands to assist in car maneuvers, Proc. IEEE Int. Conf. Advanced Robotics, pp.1308-1313, 2003.

R. Benenson, S. Petti, T. Fraichard, and M. Parent, Towards urban driverless vehicles, International Journal of Vehicle Autonomous Systems, vol.6, issue.1/2, pp.4-23, 2008.
DOI : 10.1504/IJVAS.2008.016486
URL : https://hal.archives-ouvertes.fr/inria-00115112

C. Urmson, Autonomous driving in urban environments: Boss and the urban challenge, J. Field Robot, vol.25, issue.8, 2008.

M. Montemerlo, Junior: The Stanford entry in the urban challenge, J. Field Robot, vol.25, issue.9, 2008.

J. Markoff, Google cars drive themselves, in traffic The New York Times, 2010.

. Ford, Safety and security, 2011.

G. Vasilash, The Lexus LS 600H L: Not just another production car, 2011.

. D. Mercedes-benz and . Lee, 2010 E-class sedans Available: http://www.mbusa.com/mercedes A theory of visual control of braking based on information about time-to-collision, Perception, vol.5, issue.4, pp.437-459, 1976.

C. Tay, Analysis of dynamics scenes: Application to driving assistance, 2009.

M. Skutek, M. Mekhaiel, and G. Wanielik, A precrash system based on radar for automotive applications, IEEE IV2003 Intelligent Vehicles Symposium. Proceedings (Cat. No.03TH8683), 2003.
DOI : 10.1109/IVS.2003.1212879

T. Vu and O. Aycard, Laser-based detection and tracking moving objects using data-driven Markov chain Monte-Carlo, Proc. IEEE Int. Conf. Robotics and Automation, 2009.
URL : https://hal.archives-ouvertes.fr/hal-01020868

P. Griffiths, D. Langer, J. A. Misener, M. Siegel, and C. Thorpe, Sensorfriendly vehicle and roadway systems, Proc. IEEE Instrumentation and Measurement Technology Conf, 2001.

M. Enzweiler and D. Gavrila, Monocular Pedestrian Detection: Survey and Experiments, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.31, issue.12, 2009.
DOI : 10.1109/TPAMI.2008.260
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.149.5794

R. Labayrade, D. Aubert, and J. P. , Real time obstacle detection on non flat road geometry through 'v-disparity', Proc. IEEE Intelligent Vehicles Symp, 2002.

S. Nedevschi, R. Danescu, D. Frentiu, T. Marita, F. T. Graf et al., High accuracy stereovision obstacle detection on non planar roads, Proc. IEEE Intelligent Engineering Systems, 2004.

A. Makris, M. Perrollaz, I. E. Paromtchik, and C. Laugier, Integration of visual and depth information for vehicle detection, Proc. IEEE/RSJ IROS Workshop Perception and Navigation for Autonomous Vehicles in Human Environment, 2011.
URL : https://hal.archives-ouvertes.fr/hal-00683755

H. Hirschmüller, Stereo processing by semi-global matching and mutual information, IEEE Trans. Pattern Anal. Machine Intell, vol.30, issue.2, 2008.

C. U. Franke, C. Rabe, H. Badino, and S. Gehrig, Available 6D-Vision: Fusion of stereo and motion for robust environment perception, Proc. DAGM Symp. Pattern Recognition, 2005.

. Velodyne, High definition lidar, p.11

R. Labayrade, C. Royere, D. Gruyer, and D. Aubert, Cooperative Fusion for Multi-Obstacles Detection With Use of Stereovision and Laser Scanner, Autonomous Robots, vol.19, issue.2, 2005.
DOI : 10.1007/s10514-005-0611-7

A. Broggi, P. Cerri, S. Ghidoni, P. Grisleri, and H. G. Jung, A new approach to urban pedestrian detection for automatic braking Generic centralized multi sensor data fusion based on probabilistic sensor and environment models for driving assistance systems, IEEE Trans. Intell. Transport. Syst. IEEE Intell. Transport. Syst. Mag, vol.10, issue.2 1, 2009.

H. Moravec, Sensor Fusion in Certainty Grids for Mobile Robots, AI Mag, vol.9, issue.2, 1988.
DOI : 10.1007/978-3-642-74567-6_19

M. Yguel, O. Aycard, and C. Laugier, Efficient GPU-based construction of occupancy grids using several laser range-finders, Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, 2006.
DOI : 10.1504/IJVAS.2008.016478
URL : https://hal.archives-ouvertes.fr/inria-00182008

C. Coué, C. Pradalie-r, C. Laugier, T. Fraichard, and P. Bessière, Bayesian occupancy filtering for multitarget tracking: An automotive application, Int. J. Robot. Res, issue.1, 2006.

M. K. Tay, K. Mekhnacha, C. Chen, M. Yguel, and C. Laugier, An efficient formulation of the Bayesian occupation filter for target tracking in dynamic environments, International Journal of Vehicle Autonomous Systems, vol.6, issue.1/2, 2008.
DOI : 10.1504/IJVAS.2008.016483
URL : https://hal.archives-ouvertes.fr/inria-00182089

M. Yguel, C. Laugier, and K. Mek-hnacha, Vehicle driving assistance and related processes, 2005.

K. Mekhnacha, Y. Mao, D. Raulo, and C. Laugier, Bayesian occupancy filter based 'Fast Clustering-Tracking' algorithm, Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, 2008.
URL : https://hal.archives-ouvertes.fr/inria-00336356

A. Eidehall and L. Petersson, Statistical Threat Assessment for General Road Scenes Using Monte Carlo Sampling, IEEE Transactions on Intelligent Transportation Systems, vol.9, issue.1, pp.137-147, 2008.
DOI : 10.1109/TITS.2007.909241

N. Kaempchen, B. Schiele, and K. Dietmayer, Situation Assessment of an Autonomous Emergency Brake for Arbitrary Vehicle-to-Vehicle Collision Scenarios, IEEE Transactions on Intelligent Transportation Systems, vol.10, issue.4, pp.678-687, 2009.
DOI : 10.1109/TITS.2009.2026452

F. Sandblom and M. Brännström, Probabilistic threat assessment and driver modeling in collision avoidance systems, 2011 IEEE Intelligent Vehicles Symposium (IV), pp.914-919, 2011.
DOI : 10.1109/IVS.2011.5940554

K. Fuerstenberg and J. Chen, New European approach for intersection safety?Results of the EC project INTERSAFE, Proc. Int. Forum Advanced Microsystems for Automotive Application, 2007.

A. Polychronopoulos, M. Tsogas, A. J. Amdi, and L. Andreone, Sensor Fusion for Predicting Vehicles' Path for Collision Avoidance Systems, IEEE Transactions on Intelligent Transportation Systems, vol.8, issue.3, pp.549-562, 2007.
DOI : 10.1109/TITS.2007.903439

M. Althoff, O. Stursberg, and M. Buss, Model-Based Probabilistic Collision Detection in Autonomous Driving, IEEE Transactions on Intelligent Transportation Systems, vol.10, issue.2, pp.299-310, 2009.
DOI : 10.1109/TITS.2009.2018966

M. Eilers and C. Möbius, Learning the hum an longitudinal control behavior with a modular hierarchical Bayesian mixture-of-behaviors model, Proc. IEEE Intell. Veh. Symp, pp.540-545, 2011.

I. E. Paromtchik, C. Laugier, M. Perrollaz, M. Y. Ong, A. Nègre et al., The ArosDyn project: Robust analysis of dynamic scenes, 2010 11th International Conference on Control Automation Robotics & Vision, 2010.
DOI : 10.1109/ICARCV.2010.5707333
URL : https://hal.archives-ouvertes.fr/inria-00539999

I. E. Paromtchik, M. Perrollaz, and C. Laugier, Fusi on of telemetric and visual data from road scenes with a Lexus experimental platform, Proc. IEEE Intelligent Vehicles Symp, pp.746-751, 2011.

P. Burt, L. Wixson, and G. Salgian, Electronically d irected 'focal' stereo, Proc. IEEE Int. Conf. Computer Vision, 1995.
DOI : 10.1109/iccv.1995.466801

M. Perrollaz, A. Spalanzani, and D. Aubert, A probab ilistic represenation of the uncertainty of stereo-vision and its application for obstacle detection, Proc. IEEE Intelligent Vehicles Symp, 2010.

H. Badino, U. Franke, and R. Mester, Free space comp utation using stochastic occupancy grids and dynamic programming, Proc. Workshop Dynamical Vision, 2007.

M. Perrollaz, J. Yoder, and C. Laugier, Using obs tacle and road pixels in the disparity space computation of stereo-vision based occupancy grids, Proc. IEEE Int. Conf. Intelligent Transportation Systems, 2010.

C. M. Bishop, Pattern Recognition and Machine Learnin g, 2006.

G. Welch and G. Bishop, An introducti on to the Kalman filter, 2011.

C. Laugier, Vehicle or traffic control method and system European Patent Application Number 09169060, pp.2-1264, 2009.

C. Tay and C. Laugier, Modelling Smooth Paths Using Gaussian Processes, Proc. Int. Conf. Field and Service Robotics, 2007.
DOI : 10.1007/978-3-540-75404-6_36
URL : https://hal.archives-ouvertes.fr/inria-00181664

B. Lévy, S. Petitjean, N. Ray, and J. Maillot, Least squares conformal maps for automatic texture atlas generation, Proc. ACM SIGGRAPH Conf, 2002.