相关论文: SafeCritic: Collision-Aware Trajectory Prediction

Accurate motion prediction of surrounding traffic participants is crucial for the safe and efficient operation of automated vehicles in dynamic environments. Marginal prediction models commonly forecast each agent's future trajectories…

We present a new two-stage pipeline for predicting frames of traffic scenes where relevant objects can still reliably be detected. Using a recent video prediction network, we first generate a sequence of future frames based on past frames.…

Navigating urban environments represents a complex task for automated vehicles. They must reach their goal safely and efficiently while considering a multitude of traffic participants. We propose a modular decision making algorithm to…

Pedestrian trajectory prediction is a challenging task because of the complexity of real-world human social behaviors and uncertainty of the future motion. For the first issue, existing methods adopt fully connected topology for modeling…

Urban traffic systems worldwide are suffering from severe traffic safety problems. Traffic safety is affected by many complex factors, and heavily related to all drivers' behaviors involved in traffic system. Drivers with aggressive driving…

Increased interaction between and among pedestrians and vehicles in the crowded urban environments of today gives rise to a negative side-effect: a growth in traffic accidents, with pedestrians being the most vulnerable elements. Recent…

The interest in using reinforcement learning (RL) controllers in safety-critical applications such as robot navigation around pedestrians motivates the development of additional safety mechanisms. Running RL-enabled systems among uncertain…

Precise trajectory prediction in complex driving scenarios is essential for autonomous vehicles. In practice, different driving scenarios present varying levels of difficulty for trajectory prediction models. However, most existing research…

Autonomous agents must be able to safely interact with other vehicles to integrate into urban environments. The safety of these agents is dependent on their ability to predict collisions with other vehicles' future trajectories for…

Autonomous driving decision-making at unsignalized intersections is highly challenging due to complex dynamic interactions and high conflict risks. To achieve proactive safety control, this paper proposes a deep reinforcement learning (DRL)…

In autonomous driving tasks, trajectory prediction in complex traffic environments requires adherence to real-world context conditions and behavior multimodalities. Existing methods predominantly rely on prior assumptions or generative…

As a safety critical task, autonomous driving requires accurate predictions of road users' future trajectories for safe motion planning, particularly under challenging conditions. Yet, many recent deep learning methods suffer from a…

Autonomous vehicle path planning has reached a stage where safety and regulatory compliance are crucial. This paper presents an approach that integrates a motion planner with a deep reinforcement learning model to predict potential traffic…

Automated vehicles require the ability to cooperate with humans for smooth integration into today's traffic. While the concept of cooperation is well known, developing a robust and efficient cooperative trajectory planning method is still a…

This paper presents a novel online framework for safe crowd-robot interaction based on risk-sensitive stochastic optimal control, wherein the risk is modeled by the entropic risk measure. The sampling-based model predictive control relies…

A key challenge for autonomous driving is safe trajectory planning in cluttered, urban environments with dynamic obstacles, such as pedestrians, bicyclists, and other vehicles. A reliable prediction of the future environment, including the…

Multi robot systems have the potential to be utilized in a variety of applications. In most of the previous works, the trajectory generation for multi robot systems is implemented in known environments. To overcome that we present an online…

Trajectory datasets of road users have become more important in the last years for safety validation of highly automated vehicles. Several naturalistic trajectory datasets with each more than 10.000 tracks were released and others will…

Research in the field of automated driving has created promising results in the last years. Some research groups have shown perception systems which are able to capture even complicated urban scenarios in great detail. Yet, what is often…

Autonomous systems operate in environments that may change over time. An example is the control of a self-driving vehicle among pedestrians and human-controlled vehicles whose behavior may change based on factors such as traffic density,…