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Ensuring both safety and efficiency in decision-making for autonomous driving systems remains a fundamental challenge. Traditional Deep Reinforcement Learning (DRL) suffers from unsafe random exploration and slow convergence, while Large…

Autonomous navigation in dense traffic scenarios remains challenging for autonomous vehicles (AVs) because the intentions of other drivers are not directly observable and AVs have to deal with a wide range of driving behaviors. To maneuver…

Ensuring and improving the safety of autonomous driving systems (ADS) is crucial for the deployment of highly automated vehicles, especially in safety-critical events. To address the rarity issue, adversarial scenario generation methods are…

Lane-change maneuvers are commonly executed by drivers to follow a certain routing plan, overtake a slower vehicle, adapt to a merging lane ahead, etc. However, improper lane change behaviors can be a major cause of traffic flow disruptions…

Deep reinforcement learning methods have been widely used in recent years for autonomous vehicle's decision-making. A key issue is that deep neural networks can be fragile to adversarial attacks or other unseen inputs. In this paper, we…

As self-driving systems become better, simulating scenarios where the autonomy stack may fail becomes more important. Traditionally, those scenarios are generated for a few scenes with respect to the planning module that takes ground-truth…

Ensuring validation for highly automated driving poses significant obstacles to the widespread adoption of highly automated vehicles. Scenario-based testing offers a potential solution by reducing the homologation effort required for these…

Assessing the safety of autonomous driving policy is of great importance, and reinforcement learning (RL) has emerged as a powerful method for discovering critical vulnerabilities in driving policies. However, existing RL-based approaches…

Autonomous parallel-style on-ramp merging in human controlled traffic continues to be an existing issue for autonomous vehicle control. Existing non-learning based solutions for vehicle control rely on rules and optimization primarily.…

The development of autonomous driving has attracted extensive attention in recent years, and it is essential to evaluate the performance of autonomous driving. However, testing on the road is expensive and inefficient. Virtual testing is…

In urban environments, the complex and uncertain intersection scenarios are challenging for autonomous driving. To ensure safety, it is crucial to develop an adaptive decision making system that can handle the interaction with other…

Reinforcement Learning (RL) algorithms show amazing performance in recent years, but placing RL in real-world applications such as self-driven vehicles may suffer safety problems. A self-driven vehicle moving to a target position following…

This paper presents a scenario generation framework that creates diverse, parametrized, and safety-critical driving situations to validate the safety features of autonomous vehicles in simulation [15]. By modeling factors such as road…

Overtaking on two-lane roads is a great challenge for autonomous vehicles, as oncoming traffic appearing on the opposite lane may require the vehicle to change its decision and abort the overtaking. Deep reinforcement learning (DRL) has…

The proliferation of connected automated vehicles represents an unprecedented opportunity for improving driving efficiency and alleviating traffic congestion. However, existing research fails to address realistic multi-lane highway…

Automated vehicle control using reinforcement learning (RL) has attracted significant attention due to its potential to learn driving policies through environment interaction. However, RL agents often face training challenges in sample…

Reinforcement learning (RL) in autonomous driving employs a trial-and-error mechanism, enhancing robustness in unpredictable environments. However, crafting effective reward functions remains challenging, as conventional approaches rely…

Deep reinforcement learning (DRL) has demonstrated remarkable success in developing autonomous driving policies. However, its vulnerability to adversarial attacks remains a critical barrier to real-world deployment. Although existing robust…

Self-driving cars and autonomous driving research has been receiving considerable attention as major promising prospects in modern artificial intelligence applications. According to the evolution of advanced driver assistance system (ADAS),…

Automated Vehicles require exhaustive testing in simulation to detect as many safety-critical failures as possible before deployment on public roads. In this work, we focus on the core decision-making component of autonomous robots: their…