Yunxiao Shan

Yunxiao Shan

Let's embrace a future filled with the uncertainties of a robotic world.

Talks and presentations

Autonomous Driving Planning Method for Complex Uncertain Environments

December 31, 2023

Talk, 2023 CCF China Software Conference Emerging System Software Forum, shanghai, China

A report on an efficient GPU-based implementation method for the fusion of localization and perception uncertainties was presented. By meticulously decomposing the propagation process and alternating between GPU and CPU usage, a computational efficiency improvement of over 6 times was achieved. In combination with planning methods, a more efficient planning process was implemented. Compared to uncertainty-aware approaches such as CC-MPC, the effectiveness of the method proposed in this report was demonstrated.

Construction of Probabilistic Maps for Anticipated Functional Safety and Safety Planning

July 01, 2023

Talk, Guangzhou, China Intelligent Vehicle Conference and National Intelligent Vehicle Development Forum, Guangzhou, Guangdong

The report presented a planning method for expected functional safety protection of autonomous driving, considering the uncertainty of positioning. By implementing the integrated expression of positioning uncertainty and perception uncertainty in the grid map, the perception and positioning are represented in a unified space. Combined with the Frenet planner, the proposed method can achieve safe driving under various positioning uncertainties. The report also showed relevant experimental results and videos.