5 papers
Probabilistic Risk Assessment for Chance-Constrained Collision Avoidance in Uncertain Dynamic Environments
Khaled A. Mustafa, Oscar de Groot, Xinwei Wang +2
Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring…
Reachability-Based Confidence-Aware Probabilistic Collision Detection in Highway Driving
Xinwei Wang, Zirui Li, Javier Alonso-Mora +1
Risk assessment is a crucial component of collision warning and avoidance systems in intelligent vehicles. To accurately detect potential vehicle collisions, reachability-based for…
Continual Interactive Behavior Learning With Traffic Divergence Measurement: A Dynamic Gradient Scenario Memory Approach
Yunlong Lin, Zirui Li, Cheng Gong +3
Developing autonomous vehicles (AVs) helps improve the road safety and traffic efficiency of intelligent transportation systems (ITS). Accurately predicting the trajectories of tra…
Prediction-Based Reachability Analysis for Collision Risk Assessment on Highways
Xinwei Wang, Zirui Li, Javier Alonso-Mora +1
Real-time safety systems are crucial components of intelligent vehicles. This paper introduces a prediction-based collision risk assessment approach on highways. Given a point mass…
An Ensemble Learning Framework for Vehicle Trajectory Prediction in Interactive Scenarios
Zirui Li, Yunlong Lin, Cheng Gong +4
Precisely modeling interactions and accurately predicting trajectories of surrounding vehicles are essential to the decision-making and path-planning of intelligent vehicles. This…