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It is expected that many human drivers will still prefer to drive themselves even if the self-driving technologies are ready. Therefore, human-driven vehicles and autonomous vehicles (AVs) will coexist in a mixed traffic for a long time. To…

Machine learning has emerged as a promising paradigm for enabling connected, automated vehicles to autonomously cruise the streets and react to unexpected situations. A key challenge, however, is to collect and select real-time and reliable…

Safe autonomous driving in mixed traffic requires a unified understanding of multimodal interactions and dynamic planning under uncertainty. Existing learning based approaches struggle to capture rare but safety critical behaviors, while…

Autonomous driving demands reliable and efficient solutions to closely related problems such as decision-making and motion planning. In this work, decision-making refers specifically to highway lane selection, while motion planning involves…

Deep Reinforcement Learning has proved to be able to solve many control tasks in different fields, but the behavior of these systems is not always as expected when deployed in real-world scenarios. This is mainly due to the lack of domain…

This tutorial paper focuses on safe physics-informed machine learning in the context of dynamics and control, providing a comprehensive overview of how to integrate physical models and safety guarantees. As machine learning techniques…

With their potential to significantly reduce traffic accidents, enhance road safety, optimize traffic flow, and decrease congestion, autonomous driving systems are a major focus of research and development in recent years. Beyond these…

Driving safely requires multiple capabilities from human and intelligent agents, such as the generalizability to unseen environments, the safety awareness of the surrounding traffic, and the decision-making in complex multi-agent settings.…

Decision-making is critical for lane change in autonomous driving. Reinforcement learning (RL) algorithms aim to identify the values of behaviors in various situations and thus they become a promising pathway to address the decision-making…

With recent advances in learning algorithms and hardware development, autonomous cars have shown promise when operating in structured environments under good driving conditions. However, for complex, cluttered and unseen environments with…

Reinforcement learning has received high research interest for developing planning approaches in automated driving. Most prior works consider the end-to-end planning task that yields direct control commands and rarely deploy their algorithm…

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…

Academic research in the field of autonomous vehicles has reached high popularity in recent years related to several topics as sensor technologies, V2X communications, safety, security, decision making, control, and even legal and…

Automated driving has the potential to revolutionize personal, public, and freight mobility. Beside accurately perceiving the environment, automated vehicles must plan a safe, comfortable, and efficient motion trajectory. To promote safety…

Out of the many deep reinforcement learning approaches for autonomous driving, only few make use of the options (or skills) framework. That is surprising, as this framework is naturally suited for hierarchical control applications in…

Safe and efficient autonomous driving maneuvers in an interactive and complex environment can be considerably challenging due to the unpredictable actions of other surrounding agents that may be cooperative or adversarial in their…

Reinforcement learning (RL) enables agents to learn optimal behaviors through interaction with their environment and has been increasingly deployed in safety-critical applications, including autonomous driving. Despite its promise, RL is…

In this paper, we develop a safe decision-making method for self-driving cars in a multi-lane, single-agent setting. The proposed approach utilizes deep reinforcement learning (RL) to achieve a high-level policy for safe tactical…

End-to-End driving is a promising paradigm as it circumvents the drawbacks associated with modular systems, such as their overwhelming complexity and propensity for error propagation. Autonomous driving transcends conventional traffic…

Autonomous Vehicles (AVs) have emerged as a promising solution by replacing human drivers with advanced computer-aided decision-making systems. However, for AVs to effectively navigate the road, they must possess the capability to predict…