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

The last decade witnessed increasingly rapid progress in self-driving vehicle technology, mainly backed up by advances in the area of deep learning and artificial intelligence. The objective of this paper is to survey the current…

In this paper, we present a transfer learning method for the end-to-end control of self-driving cars, which enables a convolutional neural network (CNN) trained on a source domain to be utilized for the same task in a different target…

In autonomous driving, perceiving the driving behaviors of surrounding agents is important for the ego-vehicle to make a reasonable decision. In this paper, we propose a neural network model based on trajectories information for driving…

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…

Adaptive control is subject to stability and performance issues when a learned model is used to enhance its performance. This paper thus presents a deep learning-based adaptive control framework for nonlinear systems with…

In this paper, we introduce a learning-based vision dynamics approach to nonlinear model predictive control for autonomous vehicles, coined LVD-NMPC. LVD-NMPC uses an a-priori process model and a learned vision dynamics model used to…

Vehicle trajectory prediction is essential for enabling safety-critical intelligent transportation systems (ITS) applications used in management and operations. While there have been some promising advances in the field, there is a need for…

Accurate modeling and control of autonomous vehicles remain a fundamental challenge due to the nonlinear and coupled nature of vehicle dynamics. While Koopman operator theory offers a framework for deploying powerful linear control…

Developing and testing automated driving models in the real world might be challenging and even dangerous, while simulation can help with this, especially for challenging maneuvers. Deep reinforcement learning (DRL) has the potential to…

Recent research has shown that map raw pixels from a single front-facing camera directly to steering commands are surprisingly powerful. This paper presents a convolutional neural network (CNN) to playing the CarRacing-v0 using imitation…

The robotic systems continuously interact with complex dynamical systems in the physical world. Reliable predictions of spatiotemporal evolution of these dynamical systems, with limited knowledge of system dynamics, are crucial for…

Realtime model learning proves challenging for complex dynamical systems, such as drones flying in variable wind conditions. Machine learning technique such as deep neural networks have high representation power but is often too slow to…

Vehicle detection and tracking is a core ingredient for developing autonomous driving applications in urban scenarios. Recent image-based Deep Learning (DL) techniques are obtaining breakthrough results in these perceptive tasks. However,…

Deep reinforcement learning (DRL) provides a promising way for learning navigation in complex autonomous driving scenarios. However, identifying the subtle cues that can indicate drastically different outcomes remains an open problem with…

We study learning based controllers as a replacement for model predictive controllers (MPC) for the control of autonomous vehicles. We concentrate for the experiments on the simple yet representative bicycle model. We compare training by…

Autonomous driving is a complex and highly dynamic process that ensures controlling the coupled longitudinal and lateral vehicle dynamics. Model predictive control, distinguished by its predictive feature, optimal performance, and ability…

The search for predictive models that generalize to the long tail of sensor inputs is the central difficulty when developing data-driven models for autonomous vehicles. In this paper, we use lane detection to study modeling and training…

Realizing human-like perception is a challenge in open driving scenarios due to corner cases and visual occlusions. To gather knowledge of rare and occluded instances, federated learning assisted connected autonomous vehicle (FLCAV) has…

The highly nonlinear dynamics of vehicles present a major challenge for the practical implementation of optimal and Model Predictive Control (MPC) approaches in path planning and following. Koopman operator theory offers a global linear…

Autonomous driving decision-making is a challenging task due to the inherent complexity and uncertainty in traffic. For example, adjacent vehicles may change their lane or overtake at any time to pass a slow vehicle or to help traffic flow.…