相关论文: Performance Boundary Identification for the Evalua…

Safety-critical corner cases, difficult to collect in the real world, are crucial for evaluating end-to-end autonomous driving. Adversarial interaction is an effective method to generate such safety-critical corner cases. While existing…

The progress in autonomous driving is also due to the increased availability of vast amounts of training data for the underlying machine learning approaches. Machine learning systems are generally known to lack robustness, e.g., if the…

Autonomous vehicles are expected to navigate in complex traffic scenarios with multiple surrounding vehicles. The correlations between road users vary over time, the degree of which, in theory, could be infinitely large, thus posing a great…

Traffic speed is a key indicator for the efficiency of an urban transportation system. Accurate modeling of the spatiotemporally varying traffic speed thus plays a crucial role in urban planning and development. This paper addresses the…

Interactions between vehicles and pedestrians have always been a major problem in traffic safety. Experienced human drivers are able to analyze the environment and choose driving strategies that will help them avoid crashes. What is not yet…

It remains a challenge to provide safety guarantees for autonomous systems with neural perception and control. A typical approach obtains symbolic bounds on perception error (e.g., using conformal prediction) and performs verification under…

Examples with bound information on the regression function and density abound in many real applications. We propose a novel approach for estimating such functions by incorporating the prior knowledge on the bounds. Specially, a Gaussian…

Trajectory data analysis is an essential component for highly automated driving. Complex models developed with these data predict other road users' movement and behavior patterns. Based on these predictions - and additional contextual…

Since neural networks can make wrong predictions even with high confidence, monitoring their behavior at runtime is important, especially in safety-critical domains like autonomous driving. In this paper, we combine ideas from previous…

Recent successes in reinforcement learning have lead to the development of complex controllers for real-world robots. As these robots are deployed in safety-critical applications and interact with humans, it becomes critical to ensure…

Movement specific vehicle classification and counting at traffic intersections is a crucial component for various traffic management activities. In this context, with recent advancements in computer-vision based techniques, cameras have…

To test automated driving systems, we present a case study for finding critical scenarios in driving environments guided by formal specifications. To that aim, we devise a framework for critical scenario identification, which we base on…

Accurately monitoring road traffic state is crucial for various applications, including travel time prediction, traffic control, and traffic safety. However, the lack of sensors often results in incomplete traffic state data, making it…

Unsignalized intersection driving is challenging for automated vehicles. For safe and efficient performances, the diverse and dynamic behaviors of interacting vehicles should be considered. Based on a game-theoretic framework, a human-like…

Gaussian process classification is a popular method with a number of appealing properties. We show how to scale the model within a variational inducing point framework, outperforming the state of the art on benchmark datasets. Importantly,…

Automated vehicles (AVs) are expected to increase traffic safety and traffic efficiency, among others by enabling flexible mobility-on-demand systems. This is particularly important in Singapore, being one of the world's most densely…

Gaussian Processes (GPs) are widely employed in control and learning because of their principled treatment of uncertainty. However, tracking uncertainty for iterative, multi-step predictions in general leads to an analytically intractable…

This paper presents the first application of Gaussian Mixture Copula Models to the statistical modeling of driving scenarios for the safety validation of automated driving systems. Knowledge of the joint probability distribution of scenario…

Autonomous vehicles need safe development and testing environments. Many traffic scenarios are such that they cannot be tested in the real world. We see hybrid photorealistic simulation as a viable tool for developing AI (artificial…

The introduction of automated vehicles demands a way to prove their safe operation. However, validating the safety of automated vehicles is still an unsolved problem. While the scenario-based test approach seems to provide a possible…