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*This research is funded by the Chongqing Natural Science Foundation Innovation and Development Joint Fund (Changan Automobile) (Grant No. CSTB2024NSCQ-LZX0157) Jinlong Cui, Jianxun Cui are with the School of Traffic and Transportation, Harbin Institute of Technology, Harbin, China and Chongqing Research Institute of HIT, Chongqing, China. Jianxun Cui is the corresponding author. Email: cuijianxun@hit.edu.cn. Fenghua Liang, Guo Yang, Chengcheng Tang are with the Chongqing Changan Automobile Company Ltd, Chongqing, China
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Achieve more realistic and effective safety-critical autonomous driving scenarios by using a Transformer-based model with feasibility constraints to avoid theoretically inevitable collisions.