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Barrier Function Conformal Safety Clearance Certification with CVaR for Driving Trajectory Selection

arXiv · AI, language, vision and robotics · article · Aug 27, 2026 · UTC

Autonomous driving motion planners generate and select candidate trajectories while accounting for interactions with surrounding agents. However, these evaluations do not certify the actual safety clearance of the selected trajectory. The framework evaluates the trajectory selected by ant planners and calibrates the gap between its plan time margin and realized safety clearance. A differentiable separating axis barrier margin deterministically lower bounds exact signed oriented-bounding-box (OBB) safety clearance, connecting the statistical certificate to safety margin. At plan time, the margi

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