Highway-Driving with Safe Velocity Bounds on Occluded Traffic

Limited visibility and sensor occlusions pose pressing safety challenges for advanced driver-assistance systems (ADAS) and autonomous vehicles (AVs). In this work, our pursuit was to strike a balance: a method that ensures safety in occluded scenarios while preventing overly cautious behavior. We ar...

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Bibliographic Details
Published in2024 IEEE International Conference on Robotics and Automation (ICRA) pp. 6828 - 6835
Main Authors Nyberg, Truls, van Haastregt, Jonne, Tumova, Jana
Format Conference Proceeding
LanguageEnglish
Published IEEE 13.05.2024
Subjects
Navigation
Pressing
Reachability analysis
Road transportation
Robot sensing systems
Robotics and automation
Safety
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DOI10.1109/ICRA57147.2024.10610904

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Summary:Limited visibility and sensor occlusions pose pressing safety challenges for advanced driver-assistance systems (ADAS) and autonomous vehicles (AVs). In this work, our pursuit was to strike a balance: a method that ensures safety in occluded scenarios while preventing overly cautious behavior. We argue that such approaches are crucial for AVs' future, particularly when navigating alongside human drivers on highways at high speeds. To this end, we used reachability analysis to find safe velocity bounds on occluded traffic participants. Compared to state-of-the-art methods, we achieved velocity increases in more than 60% of the 230 cut-in scenarios from the highD dataset, without sacrificing safety.
DOI:10.1109/ICRA57147.2024.10610904