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arXiv · 2609.21470

Risk-Aware Occupancy for Safety-Oriented End-to-End Autonomous Driving

Jiaxing Chen·Hengduo Zou·Yiren Zhao·Bolin Gao
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Abstract

Sparse representation formulates the environment perception for the end-to-end driving system as a set of discrete elements like objects and lane lines. This formulation meets safety risks in crowded, occluded scenes dealing with unstructured obstacles, uncertain regions, and intricate interactions. In this paper, we propose a dense representation, risk-aware occupancy, to characterize planning-relevant risks in an explicit and uniform manner. It jointly encodes global scene occupancy, map-derived traffic constraints, and future dynamic agent occupancy into a unified BEV map. The unified BEV map captures the risk evidence for trajectory planning in both spatial and temporal dimensions. We design an E2E network, ROIDrive, to realize risk-aware occupancy. It predicts risk-aware occupancy with an independent branch and injects it into planning queries for safety-oriented trajectory generation. In addition, to quantify the safety problem, we introduce RiskOcc4D-nuScenes built upon nuscenes and occ3d-nuscenes. Our risk-aware occupancy yields relative open-loop collision reductions of 52.9% under the UniAD metric and 35.0% under the ST-P3 metric on nuScenes.

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Jiaxing Chen, Hengduo Zou, Yiren Zhao, Bolin Gao. 2026-09-18. Risk-Aware Occupancy for Safety-Oriented End-to-End Autonomous Driving. https://arxiv.org/abs/2609.21470

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