相关论文: Safety-driven Interactive Planning for Neural Netw…

Connectivity technology has shown great potentials in improving the safety and efficiency of transportation systems by providing information beyond the perception and prediction capabilities of individual vehicles. However, it is expected…

When the traffic stream is extremely congested and surrounding vehicles are not cooperative, the mandatory lane changing can be significantly difficult. In this work, we propose an interactive trajectory planner, which will firstly attempt…

Autonomous vehicles (AVs) must share the driving space with other drivers and often employ conservative motion planning strategies to ensure safety. These conservative strategies can negatively impact AV's performance and significantly slow…

Recently significant progress has been made in vehicle prediction and planning algorithms for autonomous driving. However, it remains quite challenging for an autonomous vehicle to plan its trajectory in complex scenarios when it is…

In contemporary autonomous driving testing, virtual simulation has become an important approach due to its efficiency and cost effectiveness. However, existing methods usually rely on reinforcement learning to generate risky scenarios,…

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,…

The ability to estimate human intentions and interact with human drivers intelligently is crucial for autonomous vehicles to successfully achieve their objectives. In this paper, we propose a game theoretic planning algorithm that models…

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…

Neural networks have shown great promises in planning, control, and general decision making for learning-enabled cyber-physical systems (LE-CPSs), especially in improving performance under complex scenarios. However, it is very challenging…

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…

Work zone navigation remains one of the most challenging manoeuvres for autonomous vehicles (AVs), where constrained geometries and unpredictable traffic patterns create a high-risk environment. Despite extensive research on AV trajectory…

For autonomous vehicles integrating onto roadways with human traffic participants, it requires understanding and adapting to the participants' intention and driving styles by responding in predictable ways without explicit communication.…

In mixed-traffic environments, autonomous vehicles (AVs) must interact with heterogeneous human-driven vehicles (HVs) whose intentions and driving styles vary across individuals and scenarios. Such variability introduces uncertainty into…

The decision and planning system for autonomous driving in urban environments is hard to design. Most current methods manually design the driving policy, which can be expensive to develop and maintain at scale. Instead, with imitation…

Autonomous driving technology is progressing rapidly, largely due to complex End To End systems based on deep neural networks. While these systems are effective, their complexity can make it difficult to understand their behavior, raising…

The safe trajectory planning of intelligent and connected vehicles is a key component in autonomous driving technology. Modeling the environment risk information by field is a promising and effective approach for safe trajectory planning.…

This paper presents an online smooth-path lane-change control framework. We focus on dense traffic where inter-vehicle space gaps are narrow, and cooperation with surrounding drivers is essential to achieve the lane-change maneuver. We…

Planning the trajectory of the controlled ego vehicle is a key challenge in automated driving. As for human drivers, predicting the motions of surrounding vehicles is important to plan the own actions. Recent motion prediction methods…

For safe and efficient planning and control in autonomous driving, we need a driving policy which can achieve desirable driving quality in long-term horizon with guaranteed safety and feasibility. Optimization-based approaches, such as…

An efficient path planner for autonomous car-like vehicles should handle the strong kinematic constraints, particularly in confined spaces commonly encountered while maneuvering in city traffic, and should enable rapid planning, as the city…