相关论文: DROGON: A Trajectory Prediction Model based on Int…

Self-driving vehicles rely on sensory input to monitor their surroundings and continuously adapt to the most likely future road course. Predictive trajectory planning is based on snapshots of the (uncertain) road course as a key input.…

To realize trajectory prediction, most previous methods adopt the parameter-based approach, which encodes all the seen past-future instance pairs into model parameters. However, in this way, the model parameters come from all seen…

In autonomous driving (AD), accurately predicting changes in the environment can effectively improve safety and comfort. Due to complex interactions among traffic participants, however, it is very hard to achieve accurate prediction for a…

Many modern robotics applications require robots to function autonomously in dynamic environments including other decision making agents, such as people or other robots. This calls for fast and scalable interactive motion planning. This…

For autonomous vehicles (AVs) to behave appropriately on roads populated by human-driven vehicles, they must be able to reason about the uncertain intentions and decisions of other drivers from rich perceptual information. Towards these…

In order to plan a safe maneuver, self-driving vehicles need to understand the intent of other traffic participants. We define intent as a combination of discrete high-level behaviors as well as continuous trajectories describing future…

It is desirable to predict the behavior of traffic participants conditioned on different planned trajectories of the autonomous vehicle. This allows the downstream planner to estimate the impact of its decisions. Recent approaches for…

Data driven methods for time series forecasting that quantify uncertainty open new important possibilities for robot tasks with hard real time constraints, allowing the robot system to make decisions that trade off between reaction time and…

The ability to accurately predict the trajectory of surrounding vehicles is a critical hurdle to overcome on the journey to fully autonomous vehicles. To address this challenge, we pioneer a novel behavior-aware trajectory prediction model…

We propose a model predictive control approach for autonomous vehicles that exploits learned Gaussian processes for predicting human driving behavior. The proposed approach employs the uncertainty about the GP's prediction to achieve…

In this paper, we present an online two-level vehicle trajectory prediction framework for urban autonomous driving where there are complex contextual factors, such as lane geometries, road constructions, traffic regulations and moving…

Autonomous target tracking with quadrotors has wide applications in many scenarios, such as cinematographic follow-up shooting or suspect chasing. Target motion prediction is necessary when designing the tracking planner. However, the…

Pedestrian trajectory prediction plays a pivotal role in ensuring the safety and efficiency of various applications, including autonomous vehicles and traffic management systems. This paper proposes a novel method for pedestrian trajectory…

Since the emergence of autonomous driving technology, it has advanced rapidly over the past decade. It is becoming increasingly likely that autonomous vehicles (AVs) would soon coexist with human-driven vehicles (HVs) on the roads.…

We propose a framework that enables autonomous vehicles (AVs) to proactively shape the intentions and behaviors of interacting human drivers. The framework employs a leader-follower game model with an adaptive role mechanism to predict…

Predicting the future trajectories of on-road vehicles is critical for autonomous driving. In this paper, we introduce a novel prediction framework called PRIME, which stands for Prediction with Model-based Planning. Unlike recent…

Trajectory prediction is an essential component in autonomous driving, particularly for collision avoidance systems. Considering the inherent uncertainty of the task, numerous studies have utilized generative models to produce multiple…

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.…

Intention prediction is a crucial task for Autonomous Driving (AD). Due to the variety of size and layout of intersections, it is challenging to predict intention of human driver at different intersections, especially unseen and irregular…

One of the key factors determining whether autonomous vehicles (AVs) can be seamlessly integrated into existing traffic systems is their ability to interact smoothly and efficiently with human drivers and communicate their intentions. While…