Risk Assessment and Planning with Bidirectional Reachability for Autonomous Driving
Ming-Yuan Yu,Ram Vasudevan,Matthew Johnson-Roberson,Ming-Yuan Yu,Ram Vasudevan,Matthew Johnson-Roberson
Risk assessment to quantify the danger associated with taking a certain action is critical to navigating safely through crowded urban environments during autonomous driving. Risk assessment and subsequent planning is usually done by first tracking and predicting trajectories of other agents, such as vehicles and pedestrians, and then choosing an action to avoid future collisions. However, few exis...
