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

Deep neural networks can be powerful tools, but require careful application-specific design to ensure that the most informative relationships in the data are learnable. In this paper, we apply deep neural networks to the nonlinear…

This paper investigates the vision-based autonomous driving with deep learning and reinforcement learning methods. Different from the end-to-end learning method, our method breaks the vision-based lateral control system down into a…

Self-driving vehicles have the potential to reduce accidents and fatalities on the road. Many production vehicles already come equipped with basic self-driving capabilities, but have trouble following lanes in adverse lighting and weather…

A convolutional neural network (CNN) approach is used to implement a level 2 autonomous vehicle by mapping pixels from the camera input to the steering commands. The network automatically learns the maximum variable features from the camera…

A fundamental challenge in autonomous vehicles is adjusting the steering angle at different road conditions. Recent state-of-the-art solutions addressing this challenge include deep learning techniques as they provide end-to-end solution to…

Model Predictive Control (MPC) has been widely applied to the motion planning of autonomous vehicles. An MPC-controlled vehicle is required to predict its own trajectories in a finite prediction horizon according to its model. Beyond this,…

Steering a car through traffic is a complex task that is difficult to cast into algorithms. Therefore, researchers turn to training artificial neural networks from front-facing camera data stream along with the associated steering angles.…

In safety-critical systems that interface with the real world, the role of uncertainty in decision-making is pivotal, particularly in the context of machine learning models. For the secure functioning of Cyber-Physical Systems (CPS), it is…

Non-holonomic vehicle motion has been studied extensively using physics-based models. Common approaches when using these models interpret the wheel/ground interactions using a linear tire model and thus may not fully capture the nonlinear…

Lane change decision-making for autonomous vehicles is a complex but high-reward behavior. In this paper, we propose a hybrid input based deep reinforcement learning (DRL) algorithm, which realizes abstract lane change decisions and lane…

Learning models for dynamical systems in continuous time is significant for understanding complex phenomena and making accurate predictions. This study presents a novel approach utilizing differential neural networks (DNNs) to model…

Identifying driving styles is the task of analyzing the behavior of drivers in order to capture variations that will serve to discriminate different drivers from each other. This task has become a prerequisite for a variety of applications,…

We explore the potential to control terrain vehicles using deep reinforcement in scenarios where human operators and traditional control methods are inadequate. This letter presents a controller that perceives, plans, and successfully…

The majority of current studies on autonomous vehicle control via deep reinforcement learning (DRL) utilize point-mass kinematic models, neglecting vehicle dynamics which includes acceleration delay and acceleration command dynamics. The…

We apply Deep Q-network (DQN) with the consideration of safety during the task for deciding whether to conduct the maneuver. Furthermore, we design two similar Deep Q learning frameworks with quadratic approximator for deciding how to…

The purpose of this study is to develop a computationally efficient deep learning based control framework for high degree of freedom exoskeleton robots to address the real time computational limitations associated with conventional model…

Autonomous driving technologies have received notable attention in the past decades. In autonomous driving systems, identifying a precise dynamical model for motion control is nontrivial due to the strong nonlinearity and uncertainty in…

Deep networks trained on demonstrations of human driving have learned to follow roads and avoid obstacles. However, driving policies trained via imitation learning cannot be controlled at test time. A vehicle trained end-to-end to imitate…

Convolutional Neural Networks (CNNs) are successfully used for the important automotive visual perception tasks including object recognition, motion and depth estimation, visual SLAM, etc. However, these tasks are typically independently…

Vehicle taillight recognition is an important application for automated driving, especially for intent prediction of ado vehicles and trajectory planning of the ego vehicle. In this work, we propose an end-to-end deep learning framework to…