相关论文: Learning from Naturalistic Driving Data for Human-…

A key challenge in off-road navigation is that even visually similar terrains or ones from the same semantic class may have substantially different traction properties. Existing work typically assumes no wheel slip or uses the expected…

We consider the problem of learning user preferences over robot trajectories for environments rich in objects and humans. This is challenging because the criterion defining a good trajectory varies with users, tasks and interactions in the…

This thesis explores the benefits machine learning algorithms can bring to online planning and scheduling for autonomous vehicles in off-road situations. Mainly, we focus on typical problems of interest which include computing itineraries…

Automated driving systems are often used for lane keeping tasks. By these systems, a local path is planned ahead of the vehicle. However, these paths are often found unnatural by human drivers. We propose a linear driver model, which can…

Optimal motion planning involves obstacles avoidance where path planning is the key to success in optimal motion planning. Due to the computational demands, most of the path planning algorithms can not be employed for real-time based…

Modern autonomous driving algorithms often rely on learning the mapping from visual inputs to steering actions from human driving data in a variety of scenarios and visual scenes. The required data collection is not only labor intensive,…

Engineering a high-performance race car requires a direct consideration of the human driver using real-world tests or Human-Driver-in-the-Loop simulations. Apart from that, offline simulations with human-like race driver models could make…

A popular way to plan trajectories in dynamic urban scenarios for Autonomous Vehicles is to rely on explicitly specified and hand crafted cost functions, coupled with random sampling in the trajectory space to find the minimum cost…

The goal of autonomous vehicles is to navigate public roads safely and comfortably. To enforce safety, traditional planning approaches rely on handcrafted rules to generate trajectories. Machine learning-based systems, on the other hand,…

Many autonomous driving motion planners generate trajectories by optimizing a reward/cost functional. Designing and tuning a high-performance reward/cost functional for Level-4 autonomous driving vehicles with exposure to different driving…

We present a novel approach for risk-aware planning with human agents in multi-agent traffic scenarios. Our approach takes into account the wide range of human driver behaviors on the road, from aggressive maneuvers like speeding and…

In this article, the authors present a novel method to learn the personalized tactic of discretionary lane-change initiation for fully autonomous vehicles through human-computer interactions. Instead of learning from human-driving…

Path-planning algorithms are an important part of a wide variety of robotic applications, such as mobile robot navigation and robot arm manipulation. However, in large search spaces in which local traps may exist, it remains challenging to…

We present an approach for safe trajectory planning, where a strategic task related to autonomous racing is learned sample-efficient within a simulation environment. A high-level policy, represented as a neural network, outputs a reward…

Developing an intelligent vehicle which can perform human-like actions requires the ability to learn basic driving skills from a large amount of naturalistic driving data. The algorithms will become efficient if we could decompose the…

Motion prediction and cost evaluation are vital components in the decision-making system of autonomous vehicles. However, existing methods often ignore the importance of cost learning and treat them as separate modules. In this study, we…

This paper presents a framework for fast and robust motion planning designed to facilitate automated driving. The framework allows for real-time computation even for horizons of several hundred meters and thus enabling automated driving in…

In the area of autonomous driving, navigating off-road terrains presents a unique set of challenges, from unpredictable surfaces like grass and dirt to unexpected obstacles such as bushes and puddles. In this work, we present a novel…

Neural network-based driving planners have shown great promises in improving task performance of autonomous driving. However, it is critical and yet very challenging to ensure the safety of systems with neural network based components,…

Motion planning in complex scenarios is the core challenge in autonomous driving. Conventional methods apply predefined rules or learn from driving data to plan the future trajectory. Recent methods seek the knowledge preserved in large…