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arXiv · 2609.20480

Worst-Case Hidden-Vehicle Trajectory Search in Spatiotemporal Occlusion Regions

Ruichen Tan·Zengxiang Lei·Satish Ukkusuri
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Abstract

Occlusion creates fundamental uncertainty in autonomous driving. Existing methods often propagate frame-wise hypotheses or optimize ego behavior against prescribed hidden-agent predictions, leaving the worst history-consistent interaction unexplored. We introduce History-Conditioned Minimax Trajectory Search (HC-MTS), which combines temporal occlusion reasoning with response-aware search. First, HC-MTS constructs finite hidden-state modes, each certified by a backward witness satisfying multi-frame visibility, occupancy, semantic-map support, and class-specific kinematic constraints. It then solves a bilevel minimax problem: an inner finite oracle maximizes the ego driving score over destination attainment and ride comfort, while the outer search selects the legal hidden-vehicle trajectory that minimizes this best-response value. Across eight Waymo Open Motion Dataset scenarios, increasing the visibility-memory horizon from K=1 to K=20 reduces the mean per-scenario vehicle, pedestrian, and total retained hidden-seed counts by 18.12%, 21.67%, and 18.45%, respectively. HC-MTS identifies six avoidable counterexamples, while no legal collision-producing attacker is found in the remaining two scenes within the finite search budget.

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Ruichen Tan, Zengxiang Lei, Satish Ukkusuri. 2026-09-17. Worst-Case Hidden-Vehicle Trajectory Search in Spatiotemporal Occlusion Regions. https://arxiv.org/abs/2609.20480

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