How Far Ahead Should Autonomous Vehicles Start Resolving Predicted Conflicts? Exploring Uncertainty-Based Safety-Efficiency Trade-Off

Resolving predicted conflicts is vital for safe and efficient autonomous vehicles (AV). In practice, vehicular motion prediction faces inherent uncertainty due to heterogeneous driving behaviours and environments. This spatial uncertainty increases non-linearly with prediction time horizons, leading AVs to perceive more road space occupied by...

Probabilistic Risk Metric for Highway Driving Leveraging Multi-Modal Trajectory Predictions

Road traffic safety has attracted increasing research attention, in particular in the current transition from human-driven vehicles to autonomous vehicles. Surrogate measures of safety are widely used to assess traffic safety but they typically ignore motion uncertainties and are inflexible in dealing with two-dimensional motion. Meanwhile,...