Ensuring safe driving while maintaining travel efficiency for autonomous vehicles in dynamic and occluded environments is a critical challenge. This paper proposes an occlusion-aware contingency safety-critical planning approach for real-time autonomous driving in such environments. Leveraging reachability analysis for risk assessment, forward reachable sets of occluded phantom vehicles are computed to quantify dynamic velocity boundaries. These velocity boundaries are incorporated into a biconvex nonlinear programming (NLP) formulation, enabling simultaneous optimization of exploration and fallback trajectories within a receding horizon planning framework. To facilitate real-time optimization and ensure coordination between trajectories, we employ the consensus alternating direction method of multipliers (ADMM) to decompose the biconvex NLP problem into low-dimensional convex subproblems. The effectiveness of the proposed approach is validated through simulation studies and real-world experiments in occluded intersections. Experimental results demonstrate enhanced safety and improved travel efficiency, enabling real-time safe trajectory generation in dynamic occluded intersections under varying obstacle conditions. A video showcasing the experimental results is available atthis https URL.
View on arXiv@article{zheng2025_2502.06359,
title={ Occlusion-Aware Contingency Safety-Critical Planning for Autonomous Vehicles },
author={ Lei Zheng and Rui Yang and Minzhe Zheng and Zengqi Peng and Michael Yu Wang and Jun Ma },
journal={arXiv preprint arXiv:2502.06359},
year={ 2025 }
}