A critical task for developing safe autonomous driving stacks is to determine whether an obstacle is safety-critical, i.e., poses an imminent threat to the autonomous vehicle. Our previous work showed that Hamilton Jacobi reachability theory can be applied to compute interaction-dynamics-aware perception safety zones that better inform an ego vehicle’s perception module which obstacles are considered safety-critical. For completeness, these zones are typically larger than absolutely necessary, forcing the perception module to pay attention to a larger collection of objects for the sake of conservatism. As an improvement, we propose a maneuver-based decomposition of our safety zones that leverages information about the ego maneuver to reduce the zone volume. In particular, we propose a "temporal convolution" operation that produces safety zones for specific ego maneuvers, thus limiting the ego’s behavior to reduce the size of the safety zones. We show with numerical experiments that maneuver-based zones are significantly smaller (up to 76% size reduction) than the baseline while maintaining completeness.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Refining Obstacle Perception Safety Zones via Maneuver-Based Decomposition


    Beteiligte:
    Topan, Sever (Autor:in) / Chen, Yuxiao (Autor:in) / Schmerling, Edward (Autor:in) / Leung, Karen (Autor:in) / Nilsson, Jonas (Autor:in) / Cox, Michael (Autor:in) / Pavone, Marco (Autor:in)


    Erscheinungsdatum :

    2023-06-04


    Format / Umfang :

    1603704 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Interaction-Dynamics-Aware Perception Zones for Obstacle Detection Safety Evaluation

    Topan, Sever / Leung, Karen / Chen, Yuxiao et al. | IEEE | 2022


    Obstacle maneuver assistance system and method for vehicle

    HANSON RYAN / BARTOLO PIETRO / VAN WIEMEERSCH JOHN | Europäisches Patentamt | 2023

    Freier Zugriff

    OBSTACLE MANEUVER ASSISTANCE SYSTEMS AND METHODS FOR VEHICLES

    HANSON RYAN / BUTTOLO PIETRO / VAN WIEMEERSCH JOHN | Europäisches Patentamt | 2023

    Freier Zugriff

    Real-Time Obstacle Detection for Unmanned Surface Vehicle Maneuver

    Handayani, Anik Nur / Pusparani, Ferina Ayu / Lestari, Dyah et al. | BASE | 2023

    Freier Zugriff

    Three-Dimensional Velocity Obstacle Method for UAV's Uncoordinated Avoidance Maneuver

    Jenie, Yazdi I. / Van Kampen, Erik-Jan / de Visser, Coen C. et al. | AIAA | 2016