论文标题
全面的反应性安全：如果您有策略，则无需轨迹
Comprehensive Reactive Safety: No Need For A Trajectory If You Have A Strategy
论文作者
论文摘要
自动驾驶运动计划中的安全保证通常涉及在环境中无法控制的参与者（例如道路上的人为驱动的车辆）的任何动作下，证明将在任何动作中无碰撞的轨迹。结果，他们通常对此类参与者的行为进行保守束缚，例如可达性分析。我们指出的是，计划轨迹严格避免全部可到达地区是不必要的，而且过于限制，因为将来观察环境将使我们能够修剪大多数。无视这种对未来更新的能力的能力可以禁止对人类驾驶员轻松导航的方案的解决方案。我们建议通过新的安全框架（全面的反应性安全）来解释自动驾驶汽车对未来环境的反应。在模拟中验证了几种城市驾驶场景，例如未受保护的左转弯和车道合并，称为反应性ILQR的计划算法表现出强大的谈判能力和更好的安全性。
Safety guarantees in motion planning for autonomous driving typically involve certifying the trajectory to be collision-free under any motion of the uncontrollable participants in the environment, such as the human-driven vehicles on the road. As a result they usually employ a conservative bound on the behavior of such participants, such as reachability analysis. We point out that planning trajectories to rigorously avoid the entirety of the reachable regions is unnecessary and too restrictive, because observing the environment in the future will allow us to prune away most of them; disregarding this ability to react to future updates could prohibit solutions to scenarios that are easily navigated by human drivers. We propose to account for the autonomous vehicle's reactions to future environment changes by a novel safety framework, Comprehensive Reactive Safety. Validated in simulations in several urban driving scenarios such as unprotected left turns and lane merging, the resulting planning algorithm called Reactive ILQR demonstrates strong negotiation capabilities and better safety at the same time.
