相关论文: Redundant Perception and State Estimation for Reli…

This paper presents methods for vehicle state estimation and prediction for autonomous driving. A roundabout is chosen to apply the methods and illustrate the results as autonomous vehicles have difficulty in handling roundabouts. State…

Perception systems for autonomous driving have seen significant advancements in their performance over last few years. However, these systems struggle to show robustness in extreme weather conditions because sensors like lidars and cameras,…

This paper presents a modular autonomous driving architecture for Formula Student Driverless competition vehicles operating in closed-circuit environments. The perception module employs YOLOv11 for real-time traffic cone detection,…

Autonomous race driving poses a complex control challenge as vehicles must be operated at the edge of their handling limits to reduce lap times while respecting physical and safety constraints. This paper presents a novel reinforcement…

Autonomous Vehicles (AVs) rely on artificial intelligence (AI) to accurately detect objects and interpret their surroundings. However, even when trained using millions of miles of real-world data, AVs are often unable to detect rare failure…

Training autonomous vehicles requires lots of driving sequences in all situations\cite{zhao2016}. Typically a simulation environment (software-in-the-loop, SiL) accompanies real-world test drives to systematically vary environmental…

Optical sensors and learning algorithms for autonomous vehicles have dramatically advanced in the past few years. Nonetheless, the reliability of today's autonomous vehicles is hindered by the limited line-of-sight sensing capability and…

We present an integrated approach for perception and control for an autonomous vehicle and demonstrate this approach in a high-fidelity urban driving simulator. Our approach first builds a model for the environment, then trains a policy…

In this paper, we show how uncertainty estimation can be leveraged to enable safety critical image segmentation in autonomous driving, by triggering a fallback behavior if a target accuracy cannot be guaranteed. We introduce a new…

Accurate state and uncertainty estimation is imperative for mobile robots and self driving vehicles to achieve safe navigation in pedestrian rich environments. A critical component of state and uncertainty estimation for robot navigation is…

This paper proposes an active model-based fault and failure tolerant control scheme for a class of marine vehicles with thruster redundancy. Unlike widely used state and parameter estimation methods, where the estimation errors are utilized…

The autonomous car technology promises to replace human drivers with safer driving systems. But although autonomous cars can become safer than human drivers this is a long process that is going to be refined over time. Before these vehicles…

In this paper, we propose a method for addressing the issue of unnoticed catastrophic deployment and domain shift in neural networks for semantic segmentation in autonomous driving. Our approach is based on the idea that deep learning-based…

Existing autonomous driving systems rely on onboard sensors (cameras, LiDAR, IMU, etc) for environmental perception. However, this paradigm is limited by the drive-time perception horizon and often fails under limited view scope, occlusion…

Autonomous driving requires a detailed understanding of complex driving scenes. The redundancy and complementarity of the vehicle's sensors provide an accurate and robust comprehension of the environment, thereby increasing the level of…

Autonomous driving requires robust perception across diverse environmental conditions, yet 3D semantic occupancy prediction remains challenging under adverse weather and lighting. In this work, we present the first study combining 4D radar…

Perception plays a pivotal role in autonomous driving systems, which utilizes onboard sensors like cameras and LiDARs (Light Detection and Ranging) to assess surroundings. Recent studies have demonstrated that LiDAR-based perception is…

Real-time estimation of vehicle-tire-road friction is critical for allowing autonomous race cars to safely and effectively operate at their physical limits. Traditional approaches to measure tire grip often depend on costly, specialized…

Predicting a potential collision with leading vehicles is an essential functionality of any autonomous/assisted driving system. One bottleneck of existing vision-based solutions is that their updating rate is limited to the frame rate of…

Autonomous driving systems rely on panoptic driving perception that requires both precision and real-time performance. In this work, we propose RMT-PPAD, a real-time, transformer-based multi-task model that jointly performs object…