相关论文: PLOP: Probabilistic poLynomial Objects trajectory …

Occlusion-aware prediction remains a critical challenge in autonomous driving due to the inherent uncertainty of unobserved regions. Existing approaches either overestimate risk based on reachable states or struggle to predict accurate…

Perception and planning under occlusion is essential for safety-critical tasks. Occlusion-aware planning often requires communicating the information of the occluded object to the ego agent for safe navigation. However, communicating rich…

Predicting the motion of agents such as pedestrians or human-driven vehicles is one of the most critical problems in the autonomous driving domain. The overall safety of driving and the comfort of a passenger directly depend on its…

All-day and all-weather navigation is a critical capability for autonomous driving, which requires proper reaction to varied environmental conditions and complex agent behaviors. Recently, with the rise of deep learning, end-to-end control…

Probabilistic vehicle trajectory prediction is essential for robust safety of autonomous driving. Current methods for long-term trajectory prediction cannot guarantee the physical feasibility of predicted distribution. Moreover, their…

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…

Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…

Generative motion prediction must satisfy three simultaneous requirements for real-world autonomy: high accuracy, diverse multimodal futures, and strictly bounded latency. Diffusion models meet the first two but violate the third, requiring…

Perception and prediction modules are critical components of autonomous driving systems, enabling vehicles to navigate safely through complex environments. The perception module is responsible for perceiving the environment, including…

In this paper, we develop an uncertainty-aware decision-making and motion-planning method for an autonomous ego vehicle in forced merging scenarios, considering the motion uncertainty of surrounding vehicles. The method dynamically captures…

Path planning in dynamic environments is essential to high-risk applications such as unmanned aerial vehicles, self-driving cars, and autonomous underwater vehicles. In this paper, we generate collision-free trajectories for a robot within…

Hand-crafting generalised decision-making rules for real-world urban autonomous driving is hard. Alternatively, learning behaviour from easy-to-collect human driving demonstrations is appealing. Prior work has studied imitation learning…

This paper introduces a novel numerical approach to achieving smooth lane-change trajectories in autonomous driving scenarios. Our trajectory generation approach leverages particle swarm optimization (PSO) techniques, incorporating Neural…

Consistent motion estimation is fundamental for all mobile autonomous systems. While this sounds like an easy task, often, it is not the case because of changing environmental conditions affecting odometry obtained from vision, Lidar, or…

We present a new method for multi-modal, long-term vehicle trajectory prediction. Our approach relies on using lane centerlines captured in rich maps of the environment to generate a set of proposed goal paths for each vehicle. Using these…

Modeling dynamics is often the first step to making a vehicle autonomous. While on-road autonomous vehicles have been extensively studied, off-road vehicles pose many challenging modeling problems. An off-road vehicle encounters highly…

Predicting a vehicle's trajectory is an essential ability for autonomous vehicles navigating through complex urban traffic scenes. Bird's-eye-view roadmap information provides valuable information for making trajectory predictions, and…

Autonomous driving is a complex task which requires advanced decision making and control algorithms. Understanding the rationale behind the autonomous vehicles' decision is crucial to ensure their safe and effective operation on highway…

Predicting the trajectories of surrounding agents is an essential ability for autonomous vehicles navigating through complex traffic scenes. The future trajectories of agents can be inferred using two important cues: the locations and past…

Predicting driver intentions is a difficult and crucial task for advanced driver assistance systems. Traditional confidence measures on predictions often ignore the way predicted trajectories affect downstream decisions for safe driving. In…