Li, LingxiSoltani, RezaKoskie, SarahChen, Yaobin2021-08-102021-08-102021-08https://hdl.handle.net/1805/26434http://dx.doi.org/10.7912/C2/60Indiana University-Purdue University Indianapolis (IUPUI)This thesis discusses occupancy grid map, collision avoidance system and belief theory, and propose some of the latest and the most effective method such as predictive occupancy grid map, risk evaluation model and OGM role in the belief function theory with the approach of decision uncertainty according to the environment perception with the degree of belief in the driving command acceptability. Finally, how the proposed models mitigate or prevent the occurrence of the collision.en-USCollision avoidanceOccupancy gridBelief theoryThesis