Dense risk maps cut autonomous-driving collisions by up to 52.9%
A new end-to-end driving system cuts open-loop collisions by 52.9% under the UniAD metric and 35.0% under ST-P3 on nuScenes, giving planners a safer alternative to object-and-lane-only scene descriptions. ROIDrive builds one bird’s-eye-view map that combines occupied space, traffic constraints, and where moving agents are expected to be, then feeds that risk map into trajectory planning. The paper also introduces RiskOcc4D-nuScenes to measure the problem.