Gating Before Commitment: Anticipating Intent Divergence to Prevent Post-Interaction Decision Failures in Autonomous Driving
Intent misinterpretation during vehicle interactions causes recurring planning failures. We study a decision layer in which a language-guided intent module reads structured descriptors, computes a smoothed intent-geometry divergence score, and gates the planned maneuver before commitment, upstream of a corridor envelope. On a replayed off-road departure and four crash clips under a frozen, disclosed implementation, gating is the only layer that repairs the plan: on the main case it fires 72 ms after the drift onset but 161 ms before the corridor exit, keeping the trajectory in the corridor in all ten replays. The first calibration draws nine false triggers in 5.9 minutes, each from scorin...
| Authors | Cong Xu, Ravi Sankar |
|---|---|
| Primary category | cs.RO |
| Published | 26 August 2026 |
| Last updated at source | 26 August 2026 |
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