相关论文: Platoon trajectories generation: A unidirectional …

This paper has investigated the growth pattern of traffic oscillations by using vehicle trajectory data in a car following experiment. We measured the standard deviation of acceleration, emission and fuel consumption of each vehicle in the…

This paper presents a novel framework for human trajectory prediction based on multimodal data (video and radar). Motivated by recent neuroscience discoveries, we propose incorporating a structured memory component in the human trajectory…

Traffic breakdown, as one of the most puzzling traffic flow phenomena, is characterized by sharply decreasing speed, abruptly increasing density and in particular suddenly plummeting capacity. In order to clarify its root mechanisms and…

Trajectory planning is a fundamental task on various autonomous driving platforms, such as social robotics and self-driving cars. Many trajectory planning algorithms use a reference curve based Frenet frame with time to reduce the planning…

The design of Autonomous Vehicle software has largely followed the Sense-Plan-Act model. Traditional modular AV stacks develop perception, planning, and control software separately with little integration when optimizing for different…

Intelligent transportation systems (ITS) aim to advance innovative strategies relating to different modes of transport, traffic management, and autonomous vehicles. This paper studies the platoon of connected and autonomous vehicles (CAV)…

Trajectory generation and trajectory prediction are two critical tasks in autonomous driving, which generate various trajectories for testing during development and predict the trajectories of surrounding vehicles during operation,…

To safely and efficiently navigate through complex traffic scenarios, autonomous vehicles need to have the ability to predict the future motion of surrounding vehicles. Multiple interacting agents, the multi-modal nature of driver behavior,…

Motivated by the increasing availability of vehicle trajectory data, we propose learn-to-route, a comprehensive trajectory-based routing solution. Specifically, we first construct a graph-like structure from trajectories as the routing…

Forecasting the motion of surrounding vehicles is a critical ability for an autonomous vehicle deployed in complex traffic. Motion of all vehicles in a scene is governed by the traffic context, i.e., the motion and relative spatial…

This paper presents a control method and trajectory planner for vehicles with first-order nonholonomic constraints that guarantee asymptotic convergence to a time-indexed trajectory. To overcome the nonholonomic constraint, a fixed point in…

Reconstructing complete traffic flow time-space diagrams from vehicle trajectories offer a comprehensive view on traffic dynamics at arterial intersections. However, obtaining full trajectories across networks is costly, and accurately…

Platooning connected and autonomous vehicles (CAVs) provide significant benefits in terms of traffic efficiency and fuel economy. However, most existing platooning systems assume the availability of pre-determined plans, which is not…

Trajectory optimization (TO) is an efficient tool to generate a redundant manipulator's joint trajectory following a 6-dimensional Cartesian path. The optimization performance largely depends on the quality of initial trajectories. However,…

Model predictive control (MPC) is widely used for path tracking of autonomous vehicles due to its ability to handle various types of constraints. However, a considerable predictive error exists because of the error of mathematics model or…

Imitation learning is a promising approach for training autonomous vehicles (AV) to navigate complex traffic environments by mimicking expert driver behaviors. While existing imitation learning frameworks focus on leveraging expert…

We develop a novel human trajectory prediction system that incorporates the scene information (Scene-LSTM) as well as individual pedestrian movement (Pedestrian-LSTM) trained simultaneously within static crowded scenes. We superimpose a…

We study platoon control of vehicles with linear third-order longitudinal dynamics under the constant time headway policy. The controller of each follower vehicle is only based on its own velocity, acceleration, inter-vehicle distance and…

Vessel trajectory prediction is a critical component for ensuring maritime traffic safety and avoiding collisions. Due to the inherent uncertainty in vessel behavior, trajectory prediction systems must adopt a multimodal approach to…

The performance of optimization-based robot motion planning algorithms is highly dependent on the initial solutions, commonly obtained by running a sampling-based planner to obtain a collision-free path. However, these methods can be slow…