相关论文: Experimental Analysis of Trajectory Control Using …

Research on lane change prediction has gained attention in the last few years. Most existing works in this area have been conducted in simulation environments or with pre-recorded datasets, these works often rely on simplified assumptions…

Today's autonomous vehicles rely extensively on high-definition 3D maps to navigate the environment. While this approach works well when these maps are completely up-to-date, safe autonomous vehicles must be able to corroborate the map's…

As both legged robots and embedded compute have become more capable, researchers have started to focus on field deployment of these robots. Robust autonomy in unstructured environments requires perception of the world around the robot in…

The thesis presents contributions made to the evaluation and design of a haptic guidance system on improving driving performance in cases of normal and degraded visual information, which are based on behavior experiments, modeling and…

Intelligent Transportation Systems (ITS) have a pressing need for efficient and reliable traffic surveillance solutions. This paper for the first time proposes a surveillance system that utilizes low-cost magnetic sensors for detecting and…

In autonomous driving, recent advances in lane segment perception provide autonomous vehicles with a comprehensive understanding of driving scenarios. Moreover, incorporating prior information input into such perception model represents an…

The controller is one of the most important modules in the autonomous driving pipeline, ensuring the vehicle reaches its desired position. In this work, a reinforcement learning based lateral control approach, despite the imperfections in…

Lane change for autonomous vehicles (AVs) is an important but challenging task in complex dynamic traffic environments. Due to difficulties in guarantee safety as well as a high efficiency, AVs are inclined to choose relatively conservative…

To plan a safe and efficient route, an autonomous vehicle should anticipate future trajectories of other agents around it. Trajectory prediction is an extremely challenging task which recently gained a lot of attention in the autonomous…

This paper presents a real-time lane change control framework of autonomous driving in dense traffic, which exploits cooperative behaviors of other drivers. This paper focuses on heavy traffic where vehicles cannot change lanes without…

In this work, we study vision-based end-to-end reinforcement learning on vehicle control problems, such as lane following and collision avoidance. Our controller policy is able to control a small-scale robot to follow the right-hand lane of…

Ensuring safety in autonomous driving requires a seamless integration of perception and decision making under uncertain conditions. Although computer vision (CV) models such as YOLO achieve high accuracy in detecting traffic signs and…

In highway scenarios, an alert human driver will typically anticipate early cut-in and cut-out maneuvers of surrounding vehicles using only visual cues. An automated system must anticipate these situations at an early stage too, to increase…

We consider the problem of engineering robust direct perception neural networks with output being regression. Such networks take high dimensional input image data, and they produce affordances such as the curvature of the upcoming road…

Lane changing and lane merging remains a challenging task for autonomous driving, due to the strong interaction between the controlled vehicle and the uncertain behavior of the surrounding traffic participants. The interaction induces a…

The local road network information is essential for autonomous navigation. This information is commonly obtained from offline HD-Maps in terms of lane graphs. However, the local road network at a given moment can be drastically different…

Path tracking system plays a key technology in autonomous driving. The system should be driven accurately along the lane and be careful not to cause any inconvenience to passengers. To address such tasks, this paper proposes hybrid tracker…

Trajectory planning in autonomous driving is highly dependent on predicting the emergent behavior of other road users. Learning-based methods are currently showing impressive results in simulation-based challenges, with transformer-based…

Computer vision approaches are widely used by autonomous robotic systems to sense the world around them and to guide their decision making as they perform diverse tasks such as collision avoidance, search and rescue, and object…

We present here a first prototype of a "Speed Limit Support" Advance Driving Assistance System (ADAS) producing permanent reliable information on the current speed limit applicable to the vehicle. Such a module can be used either for…