相关论文: Coupled Longitudinal and Lateral Control of a Vehi…

Emerging vehicular systems with increasing proportions of automated components present opportunities for optimal control to mitigate congestion and increase efficiency. There has been a recent interest in applying deep reinforcement…

Autonomous driving presents many challenges due to the large number of scenarios the autonomous vehicle (AV) may encounter. End-to-end deep learning models are comparatively simplistic models that can handle a broad set of scenarios.…

Deep neural networks (DNN) have shown great capacity of modeling a dynamical system; nevertheless, they usually do not obey physics constraints such as conservation laws. This paper proposes a new learning framework named ConCerNet to…

Effective traffic control methods have great potential in alleviating network congestion. Existing literature generally focuses on a single control approach, while few studies have explored the effectiveness of integrated and coordinated…

In this paper, we introduce a novel architecture to connecting adaptive learning and neural networks into an arbitrary machine's control system paradigm. Two consecutive Recurrent Neural Networks (RNNs) are used together to accurately model…

In this paper, a learning based Model Predictive Control (MPC) using a low dimensional residual model is proposed for autonomous driving. One of the critical challenge in autonomous driving is the complexity of vehicle dynamics, which…

Autonomous driving in high-speed racing, as opposed to urban environments, presents significant challenges in scene understanding due to rapid changes in the track environment. Traditional sequential network approaches may struggle to meet…

State of the art quadrupedal locomotion approaches integrate Model Predictive Control (MPC) with Reinforcement Learning (RL), enabling complex motion capabilities with planning and terrain adaptive behaviors. However, they often face…

This paper presents online-capable deep learning model for probabilistic vehicle trajectory prediction. We propose a simple encoder-decoder architecture based on multi-head attention. The proposed model generates the distribution of the…

Distracted driving continues to be a significant cause of road traffic injuries and fatalities worldwide, even with advancements in driver monitoring technologies. Recent developments in machine learning (ML) and deep learning (DL) have…

Deep Learning refers to a set of machine learning techniques that utilize neural networks with many hidden layers for tasks, such as image classification, speech recognition, language understanding. Deep learning has been proven to be very…

Motion prediction of surrounding vehicles is one of the most important tasks handled by a self-driving vehicle, and represents a critical step in the autonomous system necessary to ensure safety for all the involved traffic actors. Recently…

Deep sequence models are receiving significant interest in current machine learning research. By representing probability distributions that are fit to data using maximum likelihood estimation, such models can model data on general…

Deep learning has revolutionized the ability to learn "end-to-end" autonomous vehicle control directly from raw sensory data. While there have been recent extensions to handle forms of navigation instruction, these works are unable to…

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…

In this paper, we present a framework to control a self-driving car by fusing raw information from RGB images and depth maps. A deep neural network architecture is used for mapping the vision and depth information, respectively, to steering…

Autonomous driving highly depends on capable sensors to perceive the environment and to deliver reliable information to the vehicles' control systems. To increase its robustness, a diversified set of sensors is used, including radar…

Drifting is a complicated task for autonomous vehicle control. Most traditional methods in this area are based on motion equations derived by the understanding of vehicle dynamics, which is difficult to be modeled precisely. We propose a…

This research paper compares two neural-network-based adaptive controllers, namely the Hybrid Deep Learning Neural Network Controller (HDLNNC) and the Adaptive Model Predictive Control with Nonlinear Prediction and Linearization along the…

Sampling-based motion planning is an effective tool to compute safe trajectories for automated vehicles in complex environments. However, a fast convergence to the optimal solution can only be ensured with the use of problem-specific…