الملخص
Diffusion-based driving planners capture diverse behaviors but can generate unsafe trajectories under distribution shift. We propose BridgeGuard, a safety-constrained diffusion planning method that progressively strengthens a constraint term during denoising to drive intermediate trajectories toward a scene-dependent safety domain. Corrections operate in a low-dimensional curve space, promoting geometric coherence. A learned module, DistanceFieldNet, predicts a time-dependent distance field from bird's-eye-view features. Value and spatial-gradient supervision at queries sampled beyond expert trajectories teaches this field about both safe and unsafe regions. The learned field supplies the constraint term through safety injection while the pretrained perception backbone and planner remain frozen. We further establish sufficient conditions for terminal safety in an idealized continuous-time bridge. On Bench2Drive, BridgeGuard improves driving score/success rate from 87.99/74.99% to 90.88/76.36% for BridgeDrive and from 80.79/58.18% to 90.46/74.09% for $\text{DiffusionDrive}^{\text{geo}}$, demonstrating cross-model generalization.
الكلمات المفتاحية
الموضوع
بيانات النشر
- المجلة
- غير متاح
- وصول مفتوح
- وصول مفتوح أخضر
اقتبس هذه المقالة
APA 7
Qiu, Z., Huang, J., Liu, D., Du, B., Niu, Y., Yang, H., Huang, X., Hu, C., & Liu, S. (2026). BridgeGuard: Explicit Safety Drift for Diffusion-based Autonomous Driving. https://omanscience.com/ar/articles/bridgeguard-explicit-safety-drift-for-diffusion-based-autonomous-driving
MLA 9
Qiu, Zhenjun, et al. "BridgeGuard: Explicit Safety Drift for Diffusion-based Autonomous Driving." https://omanscience.com/ar/articles/bridgeguard-explicit-safety-drift-for-diffusion-based-autonomous-driving.
شيكاغو (المؤلف–التاريخ)
Qiu, Zhenjun, Jianing Huang, Dongang Liu, Baiyu Du, Yixun Niu, Hao Yang, Xinyu Huang, Chuan Hu, and Shu Liu. 2026. "BridgeGuard: Explicit Safety Drift for Diffusion-based Autonomous Driving." https://omanscience.com/ar/articles/bridgeguard-explicit-safety-drift-for-diffusion-based-autonomous-driving.
هارفارد
Qiu, Z., Huang, J., Liu, D., Du, B., Niu, Y., Yang, H., Huang, X., Hu, C. and Liu, S. (2026) 'BridgeGuard: Explicit Safety Drift for Diffusion-based Autonomous Driving', Available at: https://omanscience.com/ar/articles/bridgeguard-explicit-safety-drift-for-diffusion-based-autonomous-driving.
فانكوفر
Qiu Z, Huang J, Liu D, Du B, Niu Y, Yang H, et al. BridgeGuard: Explicit Safety Drift for Diffusion-based Autonomous Driving. https://omanscience.com/ar/articles/bridgeguard-explicit-safety-drift-for-diffusion-based-autonomous-driving
IEEE
Z. Qiu, J. Huang, D. Liu, B. Du, Y. Niu, H. Yang, X. Huang, C. Hu, and S. Liu, "BridgeGuard: Explicit Safety Drift for Diffusion-based Autonomous Driving," https://omanscience.com/ar/articles/bridgeguard-explicit-safety-drift-for-diffusion-based-autonomous-driving.