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In the path planning problem of autonomous application, the existing studies separately consider the path planning and trajectory tracking control of the autonomous vehicle and few of them have integrated the trajectory planning and…

Predicting human behavior is a difficult and crucial task required for motion planning. It is challenging in large part due to the highly uncertain and multi-modal set of possible outcomes in real-world domains such as autonomous driving.…

Autonomous driving technology can improve traffic safety and reduce traffic accidents. In addition, it improves traffic flow, reduces congestion, saves energy and increases travel efficiency. In the relatively mature automatic driving…

Trajectory prediction is confronted with the dilemma to capture the multi-modal nature of future dynamics with both diversity and accuracy. In this paper, we present a distribution discrimination (DisDis) method to predict personalized…

Intervention-based model steering offers a lightweight and interpretable alternative to prompting and fine-tuning. However, by adapting strong optimization objectives from fine-tuning, current methods are susceptible to overfitting and…

Traversability prediction is a fundamental perception capability for autonomous navigation. The diversity of data in different domains imposes significant gaps to the prediction performance of the perception model. In this work, we make…

This paper focuses on two crucial issues in domain-adaptive lane detection, i.e., how to effectively learn discriminative features and transfer knowledge across domains. Existing lane detection methods usually exploit a pixel-wise…

This paper aims to answer the research question as to optimal design of decision-making processes for autonomous vehicles (AVs), including dynamical selection of driving velocity and route choices on a transportation network. Dynamic…

The integration of multimodal data presents a challenge in cases when the study of a given phenomena by different instruments or conditions generates distinct but related domains. Many existing data integration methods assume a known…

Active learning (AL) is a prominent technique for reducing the annotation effort required for training machine learning models. Deep learning offers a solution for several essential obstacles to deploying AL in practice but introduces many…

When autonomous vehicles still struggle to solve challenging situations during on-road driving, humans have long mastered the essence of driving with efficient transferable and adaptable driving capability. By mimicking humans' cognition…

We address the decision-making capability within an end-to-end planning framework that focuses on motion prediction, decision-making, and trajectory planning. Specifically, we formulate decision-making and trajectory planning as a…

This paper introduces a novel algorithm for multiagent offline trajectory generation based on distributed model predictive control. Central to the algorithm's scalability and success is the development of an on-demand collision avoidance…

Trajectory prediction seeks to forecast the future motion of dynamic entities, such as vehicles and pedestrians, given a temporal horizon of historical movement data and environmental context. A central challenge in this domain is the…

Connected and autonomous vehicles (CAVs) possess the capability of perception and information broadcasting with other CAVs and connected intersections. Additionally, they exhibit computational abilities and can be controlled strategically,…

An active area of research is to increase the safety of self-driving vehicles. Although safety cannot be guarenteed completely, the capability of a vehicle to predict the future trajectories of its surrounding vehicles could help ensure…

The last decade's research in artificial intelligence had a significant impact on the advance of autonomous driving. Yet, safety remains a major concern when it comes to deploying such systems in high-risk environments. The objective of…

In the development of advanced driver-assistance systems (ADAS) and autonomous vehicles, machine learning techniques that are based on deep neural networks (DNNs) have been widely used for vehicle perception. These techniques offer…

With the rapid development of machine learning, autonomous driving has become a hot issue, making urgent demands for more intelligent perception and planning systems. Self-driving cars can avoid traffic crashes with precisely predicted…

Understanding and predicting highway lane-change maneuvers is essential for driving modeling and its automation. The development of data-based lane-changing decision-making algorithms is nowadays in full expansion. We compare empirically in…