Modified-Emergency Index (MEI): 横方向の衝突における自動運転の危険度指標
Modified-Emergency Index (MEI): A Criticality Metric for Autonomous Driving in Lateral Conflict
自動運転の横方向の衝突リスクを定量化する新指標MEIを提案し、既存指標より高精度に危険度を評価できることを示した。
詳しい要約
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2. 先行研究と比べてどこがすごい？
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著者: Hao Cheng, Yanbo Jiang, Qingyuan Shi, Qingwen Meng, Keyu Chen, Wenhao Yu, Jianqiang Wang, Sifa Zheng
分類: cs.RO
原文アブストラクト
Effective, reliable, and efficient evaluation of autonomous driving safety is essential to demonstrate its trustworthiness. Criticality metrics provide an objective means of assessing safety. However, as existing metrics primarily target longitudinal conflicts, accurately quantifying the risks of lateral conflicts - prevalent in urban settings - remains challenging. This paper proposes the Modified-Emergency Index (MEI), a metric designed to quantify evasive effort in lateral conflicts. Compared to the original Emergency Index (EI), MEI refines the estimation of the time available for evasive maneuvers, enabling more precise risk quantification. We validate MEI on a public lateral conflict dataset based on Argoverse-2, from which we extract over 1,500 high-quality AV conflict cases, including more than 500 critical events. MEI is then compared with the well-established ACT and the widely used PET metrics. Results show that MEI consistently outperforms them in accurately quantifying criticality and capturing risk evolution. Overall, these findings highlight MEI as a promising metric for evaluating urban conflicts and enhancing the safety assessment framework for autonomous driving. The open-source implementation is available at https://github.com/AutoChengh/MEI.
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