Safety-Oriented Trajectory Ranking from BEV Perception Outputs
Bird's-Eye-View (BEV) representations are increasingly used as compact inputs for autonomous driving perception and planning. However, lightweight and interpretable methods for evaluating candidate ego trajectories directly on BEV outputs remain useful for vehicular safety workflows, rapid prototyping, and human-in-the-loop validation. This paper presents a modular trajectory ranking pipeline that consumes BEVFusion object detections and map segmentations derived from nuScenes sensor data and ranks manually specified candidate trajectories according to safety-first criteria. The ranking prioritizes avoiding collisions and walkway violations, then smaller end distance to the target, and fi...
| Authors | Leon Pohl, Martin Frauendorfer, Corinna Schmitt et al. |
|---|---|
| Primary category | cs.RO |
| Published | 7 October 2026 |
| Last updated at source | 7 October 2026 |
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