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Driving in dynamically changing traffic is a highly challenging task for autonomous vehicles, especially in crowded urban roadways. The Artificial Intelligence (AI) system of a driverless car must be able to arbitrate between different…
This paper presents a real-time lane change control framework of autonomous driving in dense traffic, which exploits cooperative behaviors of other drivers. This paper focuses on heavy traffic where vehicles cannot change lanes without…
Autonomous lane changing is a critical feature for advanced autonomous driving systems, that involves several challenges such as uncertainty in other driver's behaviors and the trade-off between safety and agility. In this work, we develop…
Motion prediction is highly relevant to the perception of dynamic objects and static map elements in the scenarios of autonomous driving. In this work, we propose PIP, the first end-to-end Transformer-based framework which jointly and…
The integration of Autonomous Vehicles (AVs) into existing human-driven traffic systems poses considerable challenges, especially within environments where human and machine interactions are frequent and complex, such as at unsignalized…
Anticipating the motion of other road users is crucial for automated driving systems (ADS), as it enables safe and informed downstream decision-making and motion planning. Unfortunately, contemporary learning-based approaches for motion…
The comprehension of environmental traffic situation largely ensures the driving safety of autonomous vehicles. Recently, the mission has been investigated by plenty of researches, while it is hard to be well addressed due to the limitation…
This paper proposes MATT-Diff: Multimodal Active Target Tracking by Diffusion Policy, a control policy for active multi-target tracking using a mobile agent. The policy enables multiple behavior modes for the agent, including exploration,…
Due to the complexity of the natural world, a programmer cannot foresee all possible situations, a connected and autonomous vehicle (CAV) will face during its operation, and hence, CAVs will need to learn to make decisions autonomously. Due…
A critical aspect of safe and efficient motion planning for autonomous vehicles (AVs) is to handle the complex and uncertain behavior of surrounding human-driven vehicles (HDVs). Despite intensive research on driver behavior prediction,…
Autonomous vehicles should be able to predict the future states of its environment and respond appropriately. Specifically, predicting the behavior of surrounding human drivers is vital for such platforms to share the same road with humans.…
Adverse weather conditions and occlusions in urban environments result in impaired perception. The uncertainties are handled in different modules of an automated vehicle, ranging from sensor level over situation prediction until motion…
We develop an active inference route-planning method for the autonomous control of intelligent agents. The aim is to reconnoiter a geographical area to maintain a common operational picture. To achieve this, we construct an evidence map…
Vehicle trajectory prediction is crucial for advancing autonomous driving and advanced driver assistance systems (ADAS), enhancing road safety and traffic efficiency. While traditional methods have laid foundational work, modern deep…
Predicting the trajectories of surrounding agents is still considered one of the most challenging tasks for autonomous driving. In this paper, we introduce a multi-modal trajectory prediction framework based on the transformer network. The…
Motion prediction of road users in traffic scenes is critical for autonomous driving systems that must take safe and robust decisions in complex dynamic environments. We present a novel motion prediction system for autonomous driving. Our…
Navigating complex, cluttered, and unstructured environments that are a priori unknown presents significant challenges for autonomous ground vehicles, particularly when operating with a limited field of view(FOV) resulting in frequent…
In mixed autonomous driving environments, accurately predicting the future trajectories of surrounding vehicles is crucial for the safe operation of autonomous vehicles (AVs). In driving scenarios, a vehicle's trajectory is determined by…
Applying reinforcement learning to autonomous driving entails particular challenges, primarily due to dynamically changing traffic flows. To address such challenges, it is necessary to quickly determine response strategies to the changing…
Safety-critical traffic scenarios are integral to the development and validation of autonomous driving systems. These scenarios provide crucial insights into vehicle responses under high-risk conditions rarely encountered in real-world…