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is, the way you tell your story online can make all the difference. https://images.squarespace-cdn.com/content/v1/608eebe363047b66b834668d/1626238202183-1NSLUB743LXQX299H34C/Occlusion_hidden.gif Research - Safe Occlusion-aware Autonomous Driving - Make it stand out Evolution of the forward hidden set (blue) in x-y-v space (velocity is plotted on the vertical axis). Although oncoming vehicles move towards the autonomous car, the forward hidden set retracts in the opposite direction, “pushed” away by the autonomous vehicle’s field of view. https://images.squarespace-cdn.com/content/v1/608eebe363047b66b834668d/1626241087876-16SCVM0XBM612DXKH1I5/Occlusion_danger_zone.png Research - Safe Occlusion-aware Autonomous Driving - Make it stand out Danger zone (orange) around the autonomous vehicle, in x-y-v space. The oncoming vehicle (blue) is outside the danger zone if its speed is low (lower part of the set), and the autonomous car has enough time to merge behind the truck. Conversely, at high speeds (upper part of the set), the oncoming vehicle is inside the danger zone and a collision is inevitable. If a previously hidden vehicle is detected inside the danger zone, it is no longer possible to ensure safety. https://images.squarespace-cdn.com/content/v1/608eebe363047b66b834668d/1626242168319-07E6GCBMYKE6T2UTUACQ/Occlusion_unsafe.png Research - Safe Occlusion-aware Autonomous Driving - Make it stand out This is an unsafe candidate trajectory because the forward hidden set and danger zone overlap at a future time: a potential hidden object could become impossible to evade before the autonomous vehicle can detect it. https://images.squarespace-cdn.com/content/v1/608eebe363047b66b834668d/1626242401869-VT8SUNZA5M7LBAJUVCLV/Occlusion_safe.png Research - Safe Occlusion-aware Autonomous Driving - Make it stand out This is a safe candidate trajectory because the forward hidden set and danger zone do not overlap at any future time: any potential hidden objects will be detected while they can still be avoided.. https://images.squarespace-cdn.com/content/v1/608eebe363047b66b834668d/1626243580351-RSJL3Y8350Z8GW110W5K/Occlusion_intersection.png Research - Safe Occlusion-aware Autonomous Driving - Make it stand out The autonomous vehicle approaches the intersection assertively, after determining that no vehicle could emerge from behind the red truck on the right at a speed high enough to constitute a safety threat. https://images.squarespace-cdn.com/content/v1/608eebe363047b66b834668d/1626243598727-BDNY1EXTI55RQN39VV7N/Occlusion_intersection_map.png Research - Safe Occlusion-aware Autonomous Driving - Make it stand out Representation of the intersection by the autonomous vehicle, with the danger zone separated into the yield (red) and go (blue) strategies. 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