Prediction-Based Reachability for Collision Avoidance in Autonomous Driving
Anjian Li Liting Sun Wei Zhan Masayoshi Tomizuka Mo Chen Anjian Li Liting Sun Wei Zhan Masayoshi Tomizuka Mo Chen
Safety is an important topic in autonomous driving since any collision may cause serious injury to people and damage to property. Hamilton-Jacobi (HJ) Reachability is a formal method that verifies safety in multi-agent interaction and provides a safety controller for collision avoidance. However, due to the worst-case assumption on the car’s future behaviours, reachability might result in too much...