2023 IEEE Intelligent Vehicles Symposium (IV) 2023
DOI: 10.1109/iv55152.2023.10186702
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Refining Obstacle Perception Safety Zones via Maneuver-Based Decomposition

Abstract: A critical task for developing safe autonomous driving stacks is to determine whether an obstacle is safetycritical, i.e., poses an imminent threat to the autonomous vehicle. Our previous work showed that Hamilton Jacobi reachability theory can be applied to compute interactiondynamics-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 percep… Show more

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