mlsanityData to 7 Oct 2026

Dynamic High-Order Control Barrier Functions with Diffuser for Safety-Critical Trajectory Planning at Signal-Free Intersections

arXiv 2412.00162 ↗First posted 29 Nov 2024cs.RO cs.LG cs.SYcited by 4

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Abstract (arXiv)

Planning safe and efficient trajectories through signal-free intersections presents significant challenges for autonomous vehicles (AVs), particularly in dynamic, multi-task environments with unpredictable interactions and an increased possibility of conflicts. This study aims to address these challenges by developing a unified, robust, adaptive framework to ensure safety and efficiency across three distinct intersection movements: left-turn, right-turn, and straight-ahead. Existing methods often struggle to reliably ensure safety and effectively learn multi-task behaviors from demonstrations in such environments. This study proposes a safety-critical planning method that integrates Dynamic High-Order Control Barrier Functions (DHOCBF) with a diffusion-based model, called Dynamic Safety-Critical Diffuser (DSC-Diffuser). The DSC-Diffuser leverages task-guided planning to enhance efficiency, allowing the simultaneous learning of multiple driving tasks from real-world expert demonstrations. Moreover, the incorporation of goal-oriented constraints significantly reduces displacement errors, ensuring precise trajectory execution. To further ensure driving safety in dynamic environments, the proposed DHOCBF framework dynamically adjusts to account for the movements of surrounding vehicles, offering enhanced adaptability and reduce the conservatism compared to traditional control barrier functions. Validity evaluations of DHOCBF, conducted through numerical simulations, demonstrate its robustness in adapting to variations in obstacle velocities, sizes, uncertainties, and locations, effectively maintaining driving safety across a wide range of complex and uncertain scenarios. Comprehensive performance evaluations demonstrate that DSC-Diffuser generates realistic, stable, and generalizable policies, providing flexibility and reliable safety assurance in complex multi-task driving scenarios.

Key facts. Cited by 4 papers in the map (data through 7 Oct 2026). Builds on 35 of its 70 references that are in the map. First posted on arXiv 29 Nov 2024.

Builds on

35 of 70 references.

References · 35

  1. 2020Denoising Diffusion Probabilistic Modelscited by 20,851
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23 more
  1. 2022Hierarchical Model-Based Imitation Learning for Planning in Autonomous Drivingcited by 43
  2. 2024Diffusion-ES: Gradient-free Planning with Diffusion for Autonomous Driving and Zero-Shot Instruction Followingcited by 41
  3. 2024CleanDiffuser: An Easy-to-use Modularized Library for Diffusion Models in Decision Makingcited by 38
  4. 2019Control Barrier Functions for Systems with High Relative Degreecited by 30
  5. 2023Data-driven Traffic Simulation: A Comprehensive Reviewcited by 29
  6. 2023Refining Diffusion Planner for Reliable Behavior Synthesis by Automatic Detection of Infeasible Planscited by 27
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  8. 2024CGD: Constraint-Guided Diffusion Policies for UAV Trajectory Planningcited by 21
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  13. 2019Learning When to Drive in Intersections by Combining Reinforcement Learning and Model Predictive Controlcited by 8
  14. 2022Dynamic Control Barrier Function-based Model Predictive Control to Safety-Critical Obstacle-Avoidance of Mobile Robotcited by 8
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  16. 2024Autonomous Driving at Unsignalized Intersections: A Review of Decision-Making Challenges and Reinforcement Learning-Based Solutionscited by 7
  17. 2022Dynamic Conditional Imitation Learning for Autonomous Drivingcited by 6
  18. 2024Enhancing System-Level Safety in Mixed-Autonomy Platoon via Safe Reinforcement Learningcited by 6
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  23. 2023Vehicle Sequencing at Signal-Free Intersections: Analytical Performance Guarantees Based on PDMP Formulationcited by 1

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2025: 3; 2026: 1.

4 papers.

  1. 2025Diffusion^2: Dual Diffusion Model with Uncertainty-Aware Adaptive Noise for Momentary Trajectory Predictioncited by 1
  2. 2026DualShield: Safe Model Predictive Diffusion via Reachability Analysis for Interactive Autonomous Drivingcited by 1
  3. 2025Deep Fictitious Play-Based Potential Differential Games for Learning Human-Like Interaction at Unsignalized Intersectionscited by 0
  4. 2025Collaborative-Distilled Diffusion Models (CDDM) for Accelerated and Lightweight Trajectory Predictioncited by 0