相关论文: Safe Reinforcement Learning with Mixture Density N…
Planning safe trajectories under uncertain and dynamic conditions makes the autonomous driving problem significantly complex. Current sampling-based methods such as Rapidly Exploring Random Trees (RRTs) are not ideal for this problem…
Human-driven vehicles (HVs) amplify naturally occurring perturbations in traffic, leading to congestion--a major contributor to increased fuel consumption, higher collision risks, and reduced road capacity utilization. While previous…
Connected and automated vehicles (CAVs) have recently gained prominence in traffic research due to advances in communication technology and autonomous driving. Various longitudinal control strategies for CAVs have been developed to enhance…
Implementing an autonomous vehicle that is able to output feasible, smooth and efficient trajectories is a long-standing challenge. Several approaches have been considered, roughly falling under two categories: rule-based and learning-based…
In the coming years and decades, autonomous vehicles (AVs) will become increasingly prevalent, offering new opportunities for safer and more convenient travel and potentially smarter traffic control methods exploiting automation and…
Autonomous navigation capabilities play a critical role in service robots operating in environments where human interactions are pivotal, due to the dynamic and unpredictable nature of these environments. However, the variability in human…
Prior work has looked at applying reinforcement learning and imitation learning approaches to autonomous driving scenarios, but either the safety or the efficiency of the algorithm is compromised. With the use of control barrier functions…
Existing Advanced Driver Assistance Systems primarily focus on the vehicle directly ahead, often overlooking potential risks from following vehicles. This oversight can lead to ineffective handling of high risk situations, such as high…
The use of neural networks and reinforcement learning has become increasingly popular in autonomous vehicle control. However, the opaqueness of the resulting control policies presents a significant barrier to deploying neural network-based…
Autonomous driving decision-making is a challenging task due to the inherent complexity and uncertainty in traffic. For example, adjacent vehicles may change their lane or overtake at any time to pass a slow vehicle or to help traffic flow.…
Models play an essential role in the design process of cyber-physical systems. They form the basis for simulation and analysis and help in identifying design problems as early as possible. However, the construction of models that comprise…
Taking advantage of both vehicle-to-everything (V2X) communication and automated driving technology, connected and automated vehicles are quickly becoming one of the transformative solutions to many transportation problems. However, in a…
Advanced Driver Assistance Systems (ADAS) improve driving safety significantly. They alert drivers from unsafe traffic conditions when a dangerous maneuver appears. Traditional methods to predict driving maneuvers are mostly based on…
A deep reinforcement learning based multi-objective autonomous braking system is presented. The design of the system is formulated in a continuous action space and seeks to maximize both pedestrian safety and perception as well as passenger…
Deep reinforcement learning (DRL) provides a promising way for learning navigation in complex autonomous driving scenarios. However, identifying the subtle cues that can indicate drastically different outcomes remains an open problem with…
In this paper, a synergistic combination of deep reinforcement learning and hierarchical game theory is proposed as a modeling framework for behavioral predictions of drivers in highway driving scenarios. The need for a modeling framework…
While reinforcement learning algorithms have had great success in the field of autonomous navigation, they cannot be straightforwardly applied to the real autonomous systems without considering the safety constraints. The later are crucial…
Reinforcement Learning (RL) algorithms show amazing performance in recent years, but placing RL in real-world applications such as self-driven vehicles may suffer safety problems. A self-driven vehicle moving to a target position following…
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,…
Maneuvering in dense traffic is a challenging task for autonomous vehicles because it requires reasoning about the stochastic behaviors of many other participants. In addition, the agent must achieve the maneuver within a limited time and…