相关论文: Parallel Multi-Hypothesis Algorithm for Criticalit…

Characterizing the risk of operations is a fundamental requirement in robotics, and a crucial ingredient of safe planning. The problem is multifaceted, with multiple definitions arising in the vast recent literature fitting different…

This paper introduces a novel machine learning architecture for an efficient estimation of the probabilistic space-time representation of complex traffic scenarios. A detailed representation of the future traffic scenario is of significant…

Visual localization, i.e., determining the position and orientation of a vehicle with respect to a map, is a key problem in autonomous driving. We present a multicamera visual inertial localization algorithm for large scale environments. To…

With the development of autonomous driving, it is becoming increasingly common for autonomous vehicles (AVs) and human-driven vehicles (HVs) to travel on the same roads. Existing single-vehicle planning algorithms on board struggle to…

For intelligent vehicles, sensing the 3D environment is the first but crucial step. In this paper, we build a real-time advanced driver assistance system based on a low-power mobile platform. The system is a real-time multi-scheme…

Globally, motorcycles attract vast and varied users. However, since the rate of severe injury and fatality in motorcycle accidents far exceeds passenger car accidents, efforts have been directed toward increasing passive safety systems.…

Considering personalized driving preferences, a new decision-making framework is developed using a differential game approach to resolve the driving conflicts of autonomous vehicles (AVs) at unsignalized intersections. To realize human-like…

Optimization-based approaches such as Model Predictive Control (MPC) are promising approaches in proactive control for safety-critical applications with changing environments such as automated driving systems. However, the computational…

This paper proposes a path planning algorithm for autonomous vehicles, evaluating collision severity with respect to both static and dynamic obstacles. A collision severity map is generated from ratings, quantifying the severity of…

In current perception systems applied to the rebuilding of the environment for intelligent vehicles, the part reserved to object association for the tracking is increasingly significant. This allows firstly to follow the objects temporal…

Coverage analysis is essential for validating the safety of autonomous driving systems, yet existing approaches typically assess coverage factors individually or in limited combinations, struggling to capture the complex interactions…

Spatial synchronization in roadside scenarios is essential for integrating data from multiple sensors at different locations. Current methods using cascading spatial transformation (CST) often lead to cumulative errors in large-scale…

Navigating safely in urban environments remains a challenging problem for autonomous vehicles. Occlusion and limited sensor range can pose significant challenges to safely navigate among pedestrians and other vehicles in the environment.…

In prioritized planning for vehicles, vehicles plan trajectories in parallel or in sequence. Parallel prioritized planning offers approximately consistent computation time regardless of the number of vehicles but struggles to guarantee…

With the rapid development of urbanization, the boom of vehicle numbers has resulted in serious traffic accidents, which led to casualties and huge economic losses. The ability to predict the risk of traffic accident is important in the…

According to data from the United Nations, more than 3000 people have died each day in the world due to road traffic collision. Considering recent researches, the human error may be considered as the main responsible for these fatalities.…

For a foreseeable future, autonomous vehicles (AVs) will operate in traffic together with human-driven vehicles. Their planning and control systems need extensive testing, including early-stage testing in simulations where the interactions…

Multi-object tracking is an important ability for an autonomous vehicle to safely navigate a traffic scene. Current state-of-the-art follows the tracking-by-detection paradigm where existing tracks are associated with detected objects…

Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…

Capturing uncertainty in object detection is indispensable for safe autonomous driving. In recent years, deep learning has become the de-facto approach for object detection, and many probabilistic object detectors have been proposed.…