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Reinforcement learning has steadily improved and outperform human in lots of traditional games since the resurgence of deep neural network. However, these success is not easy to be copied to autonomous driving because the state spaces in…

Road congestion induces significant costs across the world, and road network disturbances, such as traffic accidents, can cause highly congested traffic patterns. If a planner had control over the routing of all vehicles in the network,…

Autonomous vehicles with a self-evolving ability are expected to cope with unknown scenarios in the real-world environment. Take advantage of trial and error mechanism, reinforcement learning is able to self evolve by learning the optimal…

Autonomous Braking and Throttle control is key in developing safe driving systems for the future. There exists a need for autonomous vehicles to negotiate a multi-agent environment while ensuring safety and comfort. A Deep Reinforcement…

Autonomous car racing is a major challenge in robotics. It raises fundamental problems for classical approaches such as planning minimum-time trajectories under uncertain dynamics and controlling the car at the limits of its handling.…

The main control tasks in autonomous vehicles are steering (lateral) and speed (longitudinal) control. PID controllers are widely used in the industry because of their simplicity and good performance, but they are difficult to tune and need…

We use reinforcement learning in simulation to obtain a driving system controlling a full-size real-world vehicle. The driving policy takes RGB images from a single camera and their semantic segmentation as input. We use mostly synthetic…

Automated vehicles are deemed to be the key element for the intelligent transportation system in the future. Many studies have been made to improve the Automated vehicles' ability of environment recognition and vehicle control, while the…

In this work the problem of path planning for an autonomous vehicle that moves on a freeway is considered. The most common approaches that are used to address this problem are based on optimal control methods, which make assumptions about…

A model used for velocity control during car following was proposed based on deep reinforcement learning (RL). To fulfil the multi-objectives of car following, a reward function reflecting driving safety, efficiency, and comfort was…

Model-based and learning-based methods are two major types of methodologies to model car following behaviors. Model-based methods describe the car-following behaviors with explicit mathematical equations, while learning-based methods focus…

Despite promising progress in reinforcement learning (RL), developing algorithms for autonomous driving (AD) remains challenging: one of the critical issues being the absence of an open-source platform capable of training and effectively…

Modeling and understanding the environment is an essential task for autonomous driving. In addition to the detection of objects, in complex traffic scenarios the motion of other road participants is of special interest. Therefore, we…

It is true that the "best" neural network is not necessarily the one with the most "brain-like" behavior. Understanding biological intelligence, however, is a fundamental goal for several distinct disciplines. Translating our understanding…

With deep learning and computer vision technology development, autonomous driving provides new solutions to improve traffic safety and efficiency. The importance of building high-quality datasets is self-evident, especially with the rise of…

This work regards our preliminary investigation on the problem of path planning for autonomous vehicles that move on a freeway. We approach this problem by proposing a driving policy based on Reinforcement Learning. The proposed policy…

Deep-learning-based techniques have been widely adopted for autonomous driving software stacks for mass production in recent years, focusing primarily on perception modules, with some work extending this method to prediction modules.…

Currently decision making is one of the biggest challenges in autonomous driving. This paper introduces a method for safely navigating an autonomous vehicle in highway scenarios by combining deep Q-Networks and insight from control theory.…

The decision and planning system for autonomous driving in urban environments is hard to design. Most current methods manually design the driving policy, which can be expensive to develop and maintain at scale. Instead, with imitation…

This paper proposes a novel approach by integrating sensor fusion with deep reinforcement learning, specifically the Soft Actor-Critic (SAC) algorithm, to develop an optimal control policy for self-driving cars. Our system employs a…