相关论文: Incorporating Orientations into End-to-end Driving…

This paper presents an experimental study of a path-tracking framework for autonomous vehicles in which the lateral control command is applied to a dynamic control point along the wheelbase. Instead of enforcing a fixed reference at either…

Inferring the depth of images is a fundamental inverse problem within the field of Computer Vision since depth information is obtained through 2D images, which can be generated from infinite possibilities of observed real scenes. Benefiting…

Multi-modal end-to-end autonomous driving has shown promising advancements in recent work. By embedding more modalities into end-to-end networks, the system's understanding of both static and dynamic aspects of the driving environment is…

Based on the direct perception paradigm of autonomous driving, we investigate and modify the CNNs (convolutional neural networks) AlexNet and GoogLeNet that map an input image to few perception indicators (heading angle, distances to…

Autonomous vehicles demand high accuracy and robustness of perception algorithms. To develop efficient and scalable perception algorithms, the maximum information should be extracted from the available sensor data. In this work, we present…

We introduce Ignition: an end-to-end neural network architecture for training unconstrained self-driving vehicles in simulated environments. The model is a ResNet-18 variant, which is fed in images from the front of a simulated F1 car, and…

In this work, we present a learning method for lateral and longitudinal motion control of an ego-vehicle for vehicle pursuit. The car being controlled does not have a pre-defined route, rather it reactively adapts to follow a target vehicle…

This Paper proposes a novel Transformer-based end-to-end autonomous driving model named Detrive. This model solves the problem that the past end-to-end models cannot detect the position and size of traffic participants. Detrive uses an…

Recent success suggests that deep neural control networks are likely to be a key component of self-driving vehicles. These networks are trained on large datasets to imitate human actions, but they lack semantic understanding of image…

Autonomous racing has gained increasing attention in recent years, as a safe environment to accelerate the development of motion planning and control methods for autonomous driving. Deep learning models, predominantly based on neural…

In this paper we present a complete study of an end-to-end imitation learning system for speed control of a real car, based on a neural network with a Long Short Term Memory (LSTM). To achieve robustness and generalization from expert…

This work presents proximally optimal predictive control algorithm, which is essentially a model-based lateral controller for steered autonomous vehicles that selects an optimal steering command within the neighborhood of previous steering…

In this paper we propose a new methodology for decision-making under uncertainty using recent advancements in the areas of nonlinear stochastic optimal control theory, applied mathematics, and machine learning. Grounded on the fundamental…

Safety and decline of road traffic accidents remain important issues of autonomous driving. Statistics show that unintended lane departure is a leading cause of worldwide motor vehicle collisions, making lane detection the most promising…

A map, as crucial information for downstream applications of an autonomous driving system, is usually represented in lanelines or centerlines. However, existing literature on map learning primarily focuses on either detecting geometry-based…

End-to-end autonomous driving directly generates planning trajectories from raw sensor data, yet it typically relies on costly perception supervision to extract scene information. A critical research challenge arises: constructing an…

Vision-based end-to-end driving models trained by imitation learning can lead to affordable solutions for autonomous driving. However, training these well-performing models usually requires a huge amount of data, while still lacking…

Directly producing planning results from raw sensors has been a long-desired solution for autonomous driving and has attracted increasing attention recently. Most existing end-to-end autonomous driving methods factorize this problem into…

An accurate understanding of a self-driving vehicle's surrounding environment is crucial for its navigation system. To enhance the effectiveness of existing algorithms and facilitate further research, it is essential to provide…

Deep Learning has been widely applied in the area of image processing and natural language processing. In this paper, we propose an end-to-end communication structure based on autoencoder where the transceiver can be optimized jointly. A…