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We propose a stochastic reachability computation framework for occupancyprediction in automated driving by directly solving the underlying transportpartial differential equation governing the advection of the closed-loop jointdensity functions. The resulting nonparametric gridless computation is based onintegration along the characteristic curves, and allows online computation ofthe time-varying collision probabilities. Numerical simulations highlight thescope the proposed method.

Density-based Stochastic Reachability Computation for Occupancy Prediction in Automated Driving