time to collision looming

Time-to-collision judgment and looming: perception of imminent collision from optical expansion, tau-based TTC estimation, looming detection thresholds, rear-end closing scenarios, and TTC as a hazard cue and warning trigger. The collision-imminence judgment, distinct from speed_distance_perception (general speed and distance estimation), from perception_action_locomotion (the broader visual control of movement), and from braking_response (the motor response once danger is detected).

112 paper(s) · ranked by relevance to this topic

1. Time-to-contact ↗ · 2004 · Hecht, Heiko et al. · indexed
2. Information Used in Judging Impending Collision ↗ · 1979 · Schiff, William et al. · indexed
3. Visual Information and Skill Level in Time-To-Collision Estimation ↗ · 1988 · Cavallo, Viola et al. · indexed
4. A Theory of Visual Control of Braking Based on Information about Time-to-Collision ↗ · 1976 · Lee, David N. · indexed
5. Surprise Braking Trials, Time-to-Collision Judgments, and “First Look” Maneuvers Under Realistic Rear-End Crash Scenarios · 2005 · Kiefer, R. J. et al. · archived
6. Optic-Flow and Cognitive Factors in Time-to-Collision Estimates ↗ · 1983 · McLeod, Ronald W. et al. · indexed
7. Auditory Information Improves Time-to-collision Estimation for Accelerating Vehicles · 2023 · Wessels, Marlene et al. · archived
8. Use of Peripheral Vision in the Decision to Brake ↗ · 1989 · Bardy, Benoît G. et al. · indexed
9. Calculating dynamic thresholds for critical time to collision as a safety measure ↗ · 2022 · Nadimi, Navid et al. · indexed
10. The potential of visual acceleration signals for pedestrians' time-to-collision estimation ↗ · 2026 · Wessels, Marlene et al. · indexed
11. Reduced Sensitivity to Visual Looming Inflates the Risk Posed by Speeding Vehicles When Children Try to Cross the Road ↗ · 2011 · Wann, John P. et al. · indexed
12. A general formulation for time-to-collision safety indicator ↗ · 2012 · Saffarzadeh, Mahmoud et al. · indexed
13. Correction: Trial-by-trial feedback fails to improve the consideration of acceleration in visual time-to-collision estimation · 2024 · Wessels, Marlene et al. · archived
14. IVHS Countermeasures for Rear-End Collision, Task 1 Vol. VI: Human Factors Studies · 1994 · Wilson, Terry · archived
15. IVHS Countermeasures For Rear-End Collisions, Task 1 Volume V: 1985 Nass Case Analysis, Interim Report · 1994 · WILSON, TERRY · archived
16. IVHS Countermeasures For Rear-End Collisions, Task 1 Volume Vi: Human Factors Studies, Interim Report · 1994 · NHTSA · archived
17. Trial-by-trial feedback fails to improve the consideration of acceleration in visual time-to-collision estimation · 2023 · Wessels, Marlene et al. · archived
18. Responses to deceleration during car following: Roles of optic flow, warnings, expectations, and interruptions. ↗ · 2009 · DeLucia, Patricia R. et al. · indexed
19. A binary acceleration signal reduces overestimation in pedestrians’ visual time-to-collision estimation for accelerating vehicles ↗ · 2024 · Wessels, Marlene et al. · indexed
20. The accuracy of estimating time to contact in transversal motion and head-on motion ↗ · 2018 · Daneshi, Asieh et al. · indexed
21. Traffic conflicts for road user safety studies ↗ · 1994 · Brow, Gerald R. · indexed
22. The effect of vehicle source intensity on auditory time-to-collision estimation ↗ · 2025 · Huisman, Thirsa et al. · indexed
23. Visual Cues and Attention Demand in Locomotor Positioning ↗ · 1991 · Bardy, Benoît G. et al. · indexed
24. Persistent Fear Responses in Rhesus Monkeys to the Optical Stimulus of "Looming" ↗ · 1962 · Schiff, William et al. · indexed
25. Audiovisual time-to-collision estimation for accelerating vehicles: The acoustic signature of electric vehicles impairs pedestrians' judgments · 2022 · Wessels, Marlene et al. · archived
26. Forward collision warning requirements project : refining the CAMP crash alert timing approach by examining "last second" braking and lane change maneuvers under various kinematic conditions · 2003 · Kiefer, Raymond J. et al. · archived
27. A Comparison of Tactile, Visual, and Auditory Warnings for Rear-End Collision Prevention in Simulated Driving ↗ · 2008 · Scott, Jeffrey J et al. · indexed
28. Audiovisual estimation of time to collision in road traffic assessed in bilateral cochlear implants users ↗ · 2024 · Körtje, Monika et al. · indexed
29. The effect of vehicle sound power on auditory time-to-collision estimation · 2026 · Huisman, Thirsa et al. · archived
30. A vehicular collision warning algorithm based on the time-to-collision estimation under connected environment ↗ · 2016 · Li, Yongfu et al. · indexed
31. Detection thresholds in car following situations and peripheral vision: implications for positioning of visually demanding in-car displays ↗ · 1999 · Lamble, Dave et al. · indexed
32. Automotive Collision Avoidance Field Operational Test: Warning Cue Implementation Summary Report · 2002 · NHTSA · archived
33. Drivers’ Responses to Lead Vehicles: Thresholds for Triggering an Emergency Response, Age Differences, Crash Risks, and Influence of Secondary Task Engagement ↗ · 2021 · Muttart, Jeffrey et al. · indexed
34. An evaluation of time-to-collision as a surrogate safety measure and a proposal of a new method for its application in safety analysis ↗ · 2019 · Nadimi, Navid et al. · indexed
35. New time-based surrogate safety measure to assess crash risk in car-following scenarios ↗ · 2014 · Behbahani, Hamid et al. · indexed
36. Collision Warning Timing, Driver Distraction, and Driver Response to Imminent Rear-End Collisions in a High-Fidelity Driving Simulator ↗ · 2002 · Lee, John D. et al. · indexed
37. Collision Risk Evaluation Based on Deceleration for Collision Avoidance · 2011 · Hiraoka, Toshihiro et al. · archived
38. Real-Time Time-to-Collision from Variation of Intrinsic Scale · 2008 · Nègre, Amaury et al. · archived
39. Effects of Oncoming Vehicle Size on Overtaking Judgments · 2014 · Levulis, Samuel J. et al. · archived
40. Research on drivers' hazard perception and visual characteristics before vehicle-to-powered two-wheeler collisions ↗ · 2025 · Wu, Xianhui et al. · indexed
41. Construction and Simulation of Rear-End Conflicts Recognition Model Based on Improved TTC Algorithm · 2019 · Ge, Huimin et al. · archived
42. ROAD ENVIRONMENT AND VISUAL ANTICIPATION OF A COLLISION DURING SELF-MOTION ↗ · 1999 · Berthelon, Catherine et al. · indexed
43. Environmental Cues Involved in the Visual Anticipation of a Collision ↗ · 2000 · Catherine, Berthelon et al. · indexed
44. Driver Responses to Cyclists Crossing from Near and Far Side in Driving Simulator Experiments · 2022 · Zhao, Yuqing et al. · archived
45. Visual information about moving objects. ↗ · 1981 · Todd, James T. · indexed
46. The Influence of Lead Vehicle Behavior and Vehicle Rates of Closure on a Driver's Braking Behavior ↗ · 2007 · Kelling, Nicholas et al. · indexed
47. Effectiveness of forward obstacles collision warning system based on deceleration for collision avoidance ↗ · 2014 · Takada, Shota et al. · indexed
48. A novel approach for the probabilistic computation of Time-To-Collision ↗ · 2012 · Berthelot, Adam et al. · indexed
49. Backup Warning Signals: Driver Perception and Response · 1996 · Harpster, J.L. et al. · archived
50. Improvement of Evaluation Indices for Rear-End Collision Risk ↗ · 2017 · Hiraoka, Toshihiro et al. · indexed
51. Analysis and Validation of Surrogate Safety Measures by Types of Lead and Following Vehicles ↗ · 2017 · Zhao, Peibo et al. · indexed
52. Impact of Time-to-Collision Information on Driving Behavior in Connected Vehicle Environments Using A Driving Simulator Test Bed · 2015 · Osman, Osama A. et al. · archived
53. Intersection decision support : evaluation of a violation warning system to mitigate straight crossing path collisions. · 2006 · Neale, Vicki L et al. · archived
54. The effects of in-vehicle and infrastructure-based collision warnings at signalized intersections · 2009 · Inman, Vaughn W. et al. · archived
55. A time-based analysis of road user behaviour in normal and critical encounters ↗ · 1990 · van der Horst, A.R.A. · indexed
56. The Effect of Car-following in Different Time Headways on Visual Distraction and Its Relation to System Effectiveness of a Forward Collision Warning System · 2012 · ABE, Genya et al. · archived
57. In-vehicle crash avoidance warning systems : human factors considerations · 1997 · Huey, R. W. et al. · archived
58. A Forward Collision Warning System Using Driving Intention Recognition of the Front Vehicle and V2V Communication · 2020 · Yang, Wei et al. · archived
59. Vehicle Collision Warning System and Algorithm at Intersection under Internet-Connected Vehicles Environment ↗ · 2012 · Liu, Tianping et al. · indexed
60. IVHS Countermeasures for Rear-End Collisions, Task 2 -- Functional Goals · 1996 · Wilson, Terry · archived
61. Traffic Risk Modelling and Analysis under Airport-Like Simulation Environment ↗ · 2022 · Sheng, Yanting et al. · indexed
62. No-onset looming motion guides spatial attention. · 2007 · von Mühlenen, Adrian et al. · archived
63. Curvilinear Approach to an Intersection and Visual Detection of a Collision ↗ · 1993 · Berthelon, Catherine et al. · indexed
64. Backup Warning Signals: Driver Perception And Response, Technical Report · 1996 · NHTSA · archived
65. Assessment of IVHS countermeasures for collision avoidance : rear-end crashes · 1993 · Knipling, Ronald R. et al. · archived
66. Driving risk emerges from the required two-dimensional joint evasive acceleration · 2026 · Cheng, Hao et al. · archived
67. Situation-Adaptive Warning Timing of a Forward Obstacle Collision Warning System ↗ · 2008 · Hiraoka, Toshihiro et al. · indexed
68. Potential benefits of an adaptive forward collision warning system · 2007 · Jamson, A. Hamish et al. · archived
69. Lane Change Hazard Analysis Using Radar Traces to Identify Conflicts and Time-to-Collision Measures · 2023 · Guduri, Balachandar et al. · archived
70. A flexible method for criticality assessment in driver assistance systems ↗ · 2011 · Tamke, Andreas et al. · indexed
71. Drivers' gap acceptance and time to arrival judgements when confronted with approaching bicycles and e-bicycles ↗ · 2020 · Schleinitz, Katja et al. · indexed
72. Behavioural accident avoidance science: understanding response in collision incipient conditions ↗ · 2003 · HANCOCK, PA et al. · indexed
73. Cockpit Displays of Traffic Information and Pilot Bias in Time-to-Contact Judgments ↗ · 2014 · Pankok, Carl et al. · indexed
74. How we avoid collisions with stationary and moving objects. ↗ · 1995 · Cutting, James E. et al. · indexed
75. NEAR-MISS DETERMINATION THROUGH USE OF A SCALE OF DANGER ↗ · 1972 · Hayward, J C · indexed
76. Effects of directional auditory and visual warnings at intersections on reaction times and speed reduction times · 2017 · Bella, Francesco et al. · archived
77. Effects of Air Traffic Geometry on Pilots' Conflict Detection with Cockpit Display of Traffic Information ↗ · 2004 · Wickens, C. D. · indexed
78. Cooperative Adaptive Cruise Control Human Factors Study : Experiment 3 : The Role of Automated Braking and Auditory Alert in Collision Avoidance Response · 2016 · Inman, Vaughan W. et al. · archived
79. Forward collision warning system considering both time-to-collision and safety braking distance ↗ · 2013 · Chen, Yuan Lin et al. · indexed
80. Development of Fuzzy-Based Bus Rear-End Collision Warning Thresholds Using a Driving Simulator ↗ · 2009 · Chang, Chien-Yen et al. · indexed
81. Vehicle collision prediction at intersections based on comparison of minimal distance between vehicles and dynamic thresholds ↗ · 2017 · Wang, Pin et al. · indexed
82. Just Noticeable Differences for Vehicle Rates of Closure · 2007 · Corso, Gregory M. et al. · archived
83. Detection of linear ego-acceleration from optic flow ↗ · 2012 · Festl, Freya et al. · indexed
84. How Long Does It Take to Stop? Methodological Analysis of Driver Perception-Brake Times ↗ · 2000 · Green, Marc · indexed
85. REACT: Runtime-Enabled active collision-avoidance technique for autonomous driving · 2025 · Huang, Heye et al. · archived
86. Dynamic Risk Detection and Early Warning Strategy for Vehicle Collisions at Signal-free Intersections* ↗ · 2023 · Haijin, Fan et al. · indexed
87. 3204 A characteristic analysis of driving behavior to rear-end collision warning using a driving simulator · 2009 · SATOMI, Yohei et al. · archived
88. Test Procedures with Countermeasure Timing Constraints for Intersection Movement and Left Turn Assist Safety Applications · 2021 · Azeredo, Philip et al. · archived
89. Development of a Collision Warning System for Adaptive Cruise Control Vehicles Using a Comparison Analysis of Recent Algorithms ↗ · 2006 · Ararat, Öncü et al. · indexed
90. Comparing Time To Collision estimates: Experiments in a Wave Field Synthesis Laboratory and the Real World Environment ↗ · 2025 · Krautwurm, Jonas et al. · indexed
91. Quantifying the Severity of Traffic Conflict by Assuming Moving Elements as Rectangles at Intersection ↗ · 2012 · Lu, Guangquan et al. · indexed
92. Integrated evasive manoeuvre assist for collision mitigation with oncoming vehicles · 2018 · Arikere, Adithya et al. · archived
93. Urgent Collision Avoidance Control by Using of Braking and Steering with Consideration for Tire Force Saturation · 2019 · Hiraoka, Toshihiro et al. · archived
94. Real time path planning for threat assessment and collision avoidance by steering ↗ · 2013 · Eidehall, Andreas et al. · indexed
95. The effect of single dot movement on reaction time · 2013 · YAMAMURA, Kaiji et al. · archived
96. Pedestrian Collision Warning of Advanced Driver Assistance Systems ↗ · 2016 · Kuo, Ying‐Che et al. · indexed
97. Uncertainty-Aware Reinforcement Learning for Collision Avoidance · 2017 · Kahn, Gregory et al. · archived
98. Hybrid long-range collision avoidance for crowd simulation ↗ · 2013 · Golas, Abhinav et al. · indexed
99. Toward Better Pedestrian Trajectory Predictions: The Role of Density and Time-to-Collision in Hybrid Deep-Learning Algorithms ↗ · 2024 · Korbmacher, Raphael et al. · indexed
100. A Learning-Based Control Barrier Function for Car-Like Robots: Toward Less Conservative Collision Avoidance ↗ · 2025 · Xu, Jianye et al. · indexed
101. Collision avoidance method for multiple autonomous mobile agents by implicit cooperation ↗ · 2002 · Abe, Y. et al. · indexed
102. Fast, On-line Collision Avoidance for Dynamic Vehicles Using Buffered Voronoi Cells ↗ · 2017 · Zhou, Dingjiang et al. · indexed
103. Asymmetric Compression of Representational Space for Object Animacy Categorization under Degraded Viewing Conditions ↗ · 2017 · Grootswagers, Tijl et al. · indexed
104. Combined workspace monitoring and collision avoidance for mobile manipulators · 2015 · Zube, Angelika · archived
105. V-RVO: Decentralized Multi-Agent Collision Avoidance using Voronoi Diagrams and Reciprocal Velocity Obstacles · 2021 · Arul, Senthil Hariharan et al. · archived
106. Collision Avoidance for Underactuated Ocean-Going Vessels Considering COLREGs Constraints ↗ · 2021 · Liu, Junpo et al. · indexed
107. Chance-Constrained Collision Avoidance for MAVs in Dynamic Environments ↗ · 2019 · Zhu, Hai et al. · indexed
108. Completion of Collision Avoidance Control Algorithm for Multicopters Based on Geometrical Constraints ↗ · 2018 · Thanh, Ha Le Nhu Ngoc et al. · indexed
109. DCAD: Decentralized Collision Avoidance With Dynamics Constraints for Agile Quadrotor Swarms · 2020 · Arul, Senthil Hariharan et al. · archived
110. SwarmCCO: Probabilistic Reactive Collision Avoidance for Quadrotor Swarms Under Uncertainty · 2021 · Arul, Senthil Hariharan et al. · archived
111. Fuzzy-based potential field collision avoidance technique for unmanned surface vehicles ↗ · 2021 · Tanakitkorn, Kantapon · indexed
112. A path planning approach for ship collision avoidance integrating BRB reasoning and velocity obstacle algorithm. · 2026 · Zheng M et al. · archived