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cs.RO2026
Driving risk emerges from the required two-dimensional joint evasive acceleration
Hao Cheng, Yanbo Jiang, Wenhao Yu +9
Most autonomous driving safety benchmarks use time-to-collision (TTC) to assess risk and guide safe behaviour. However, TTC-based methods treat risk as a one-dimensional closing pr…
cs.RO2025
CogDrive: Cognition-Driven Multimodal Prediction-Planning Fusion for Safe Autonomy
Heye Huang, Yibin Yang, Mingfeng Fan +3
Safe autonomous driving in mixed traffic requires a unified understanding of multimodal interactions and dynamic planning under uncertainty. Existing learning based approaches stru…
cs.RO2024
CSDO: Enhancing Efficiency and Success in Large-Scale Multi-Vehicle Trajectory Planning
Yibin Yang, Shaobing Xu, Xintao Yan +3
This paper presents an efficient algorithm, naming Centralized Searching and Decentralized Optimization (CSDO), to find feasible solution for large-scale Multi-Vehicle Trajectory P…