相关论文: Development and Evaluation of Two Learning-Based P…

We propose and validate a novel car following model based on deep reinforcement learning. Our model is trained to maximize externally given reward functions for the free and car-following regimes rather than reproducing existing follower…

Autonomous vehicles need to model the behavior of surrounding human driven vehicles to be safe and efficient traffic participants. Existing approaches to modeling human driving behavior have relied on both data-driven and rule-based…

There is quickly growing literature on machine-learned models that predict human driving trajectories in road traffic. These models focus their learning on low-dimensional error metrics, for example average distance between model-generated…

Characterizing driving styles of human drivers using vehicle sensor data, e.g., GPS, is an interesting research problem and an important real-world requirement from automotive industries. A good representation of driving features can be…

For the optimum design of a driver-automation shared control system, an understanding of driver behavior based on measurements and modeling is crucial early in the development process. This paper presents a driver model through a weighting…

Credible microscopic traffic simulation requires car-following models that capture both the average response and the substantial variability observed across drivers and situations. However, most data-driven calibrations remain…

Building simulation environments for developing and testing autonomous vehicles necessitates that the simulators accurately model the statistical realism of the real-world environment, including the interaction with other vehicles driven by…

Autonomous racing is increasingly becoming a proving ground for autonomous vehicle technology at the limits of its current capabilities. The most prominent examples include the F1Tenth racing series, Formula Student Driverless (FSD),…

Compute and memory constraints have historically prevented traffic simulation software users from fully utilizing the predictive models underlying them. When calibrating car-following models, particularly, accommodations have included 1)…

Modern Advanced Driver Assistance Systems (ADAS) are limited in their ability to consider the drivers intention, resulting in unnatural guidance and low customer acceptance. In this research, we focus on a novel data-driven approach to…

Airspace models have played an important role in the development and evaluation of aircraft collision avoidance systems for both manned and unmanned aircraft. As Urban Air Mobility (UAM) systems are being developed, we need new encounter…

In this paper, we propose a probabilistic physics-guided framework, termed Physics-guided Deep Markov Model (PgDMM). The framework targets the inference of the characteristics and latent structure of nonlinear dynamical systems from…

Accurate and interpretable car-following models are essential for traffic simulation and autonomous vehicle development. However, classical models like the Intelligent Driver Model (IDM) are fundamentally limited by their parsimonious and…

Car-following (CF) modeling, a fundamental component in microscopic traffic simulation, has attracted increasing interest of researchers in the past decades. In this study, we propose an adaptable personalized car-following framework…

The rising presence of autonomous vehicles (AVs) on public roads necessitates the development of advanced control strategies that account for the unpredictable nature of human-driven vehicles (HVs). This study introduces a learning-based…

Highway pilot assist has become the front line of competition in advanced driver assistance systems. The increasing requirements on safety and user acceptance are calling for personalization in the development process of such systems.…

This paper proposes a hybrid learning and optimization framework for mobile manipulators for complex and physically interactive tasks. The framework exploits an admittance-type physical interface to obtain intuitive and simplified human…

Data-driven models of robot motion constructed using principles from Geometric Mechanics have been shown to produce useful predictions of robot motion for a variety of robots. For robots with a useful number of DoF, these geometric…

Traffic forecasting is a challenging spatio-temporal modeling task and a critical component of urban transportation management. Current studies mainly focus on deterministic predictions, with limited considerations on the uncertainty and…

Short-term future of automated driving can be imagined as a hybrid scenario in which both automated and human-driven vehicles co-exist in the same environment. In order to address the needs of such road configuration, many technology…