A contingency planning method for autonomous vehicles that learns human vehicle uncertainties online and uses reachable set barriers for non-conservative safety.
Barrier-enhanced parallel homotopic trajectory optimization for safety-critical autonomous driv- ing
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Safe and Nonconservative Contingency Planning for Autonomous Vehicles via Online Learning-Based Reachable Set Barriers
A contingency planning method for autonomous vehicles that learns human vehicle uncertainties online and uses reachable set barriers for non-conservative safety.