相关论文: GridSim: A Vehicle Kinematics Engine for Deep Neur…

A deep reinforcement learning based multi-objective autonomous braking system is presented. The design of the system is formulated in a continuous action space and seeks to maximize both pedestrian safety and perception as well as passenger…

In autonomous driving, navigation through unsignaled intersections with many traffic participants moving around is a challenging task. To provide a solution to this problem, we propose a novel branched network G-CIL for the navigation…

Ensuring realistic traffic dynamics is a prerequisite for simulation platforms to evaluate the reliability of self-driving systems before deployment in the real world. Because most road users are human drivers, reproducing their diverse…

Intrinsically, driving is a Markov Decision Process which suits well the reinforcement learning paradigm. In this paper, we propose a novel agent which learns to drive a vehicle without any human assistance. We use the concept of…

Existing Advanced Driver Assistance Systems primarily focus on the vehicle directly ahead, often overlooking potential risks from following vehicles. This oversight can lead to ineffective handling of high risk situations, such as high…

Realistic simulation is key to enabling safe and scalable development of % self-driving vehicles. A core component is simulating the sensors so that the entire autonomy system can be tested in simulation. Sensor simulation involves modeling…

Developing autonomous vehicles that can navigate complex environments with human-level safety and efficiency is a central goal in self-driving research. A common approach to achieving this is imitation learning, where agents are trained to…

Success in racing requires a unique combination of vehicle setup, understanding of the racetrack, and human expertise. Since building and testing many different vehicle configurations in the real world is prohibitively expensive,…

Traditional decision and planning frameworks for self-driving vehicles (SDVs) scale poorly in new scenarios, thus they require tedious hand-tuning of rules and parameters to maintain acceptable performance in all foreseeable cases.…

Decision making for autonomous driving in urban environments is challenging due to the complexity of the road structure and the uncertainty in the behavior of diverse road users. Traditional methods consist of manually designed rules as the…

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…

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…

Tactical decision making and strategic motion planning for autonomous highway driving are challenging due to the complication of predicting other road users' behaviors, diversity of environments, and complexity of the traffic interactions.…

Reinforcement Learning algorithms have recently been proposed to learn time-sequential control policies in the field of autonomous driving. Direct applications of Reinforcement Learning algorithms with discrete action space will yield…

Deep model-based reinforcement learning methods offer a conceptually simple approach to the decision-making and control problem: use learning for the purpose of estimating an approximate dynamics model, and offload the rest of the work to…

In recent years, autonomous driving algorithms using low-cost vehicle-mounted cameras have attracted increasing endeavors from both academia and industry. There are multiple fronts to these endeavors, including object detection on roads,…

Deep neural network learning can be formulated as a non-convex optimization problem. Existing optimization algorithms, e.g., Adam, can learn the models fast, but may get stuck in local optima easily. In this paper, we introduce a novel…

Autonomous lane changing is a critical feature for advanced autonomous driving systems, that involves several challenges such as uncertainty in other driver's behaviors and the trade-off between safety and agility. In this work, we develop…

We present a deep reinforcement learning-based framework for autonomous microgrid management. tailored for remote communities. Using deep reinforcement learning and time-series forecasting models, we optimize microgrid energy dispatch…

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…