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

The most common type of accident on the road is a rear-end crash. These crashes have a significant negative impact on traffic flow and are frequently fatal. To gain a more practical understanding of these scenarios, it is necessary to…

Safe deployment of autonomous robots in diverse scenarios requires agents that are capable of efficiently adapting to new environments while satisfying constraints. In this work, we propose a practical and theoretically-justified approach…

Autonomous driving requires safe planning, but most learning-based planners lack explicit self-correction ability: once an unsafe action is proposed, there is no mechanism to correct it. Thus, we propose CorrectionPlanner, an autoregressive…

Safety remains one of the most critical challenges in autonomous driving systems. In recent years, the end-to-end driving has shown great promise in advancing vehicle autonomy in a scalable manner. However, existing approaches often face…

In this paper we treat optimal trajectory planning for an autonomous vehicle (AV) operating in dense traffic, where vehicles closely interact with each other. To tackle this problem, we present a novel framework that couples trajectory…

In this paper, we perform safety and performance analysis of an autonomous vehicle that implements reactive planner and controller for navigating a race lap. Unlike traditional planning algorithms that have access to a map of the…

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…

The release of nuPlan marks a new era in vehicle motion planning research, offering the first large-scale real-world dataset and evaluation schemes requiring both precise short-term planning and long-horizon ego-forecasting. Existing…

Accurately predicting the trajectory of surrounding vehicles is a critical challenge for autonomous vehicles. In complex traffic scenarios, there are two significant issues with the current autonomous driving system: the cognitive…

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,…

In this work, we propose a learning based neural model that provides both the longitudinal and lateral control commands to simultaneously navigate multiple vehicles. The goal is to ensure that each vehicle reaches a desired target state…

In dense and dynamic scenarios, planning a safe and comfortable trajectory is full of challenges when traffic participants are driving at high speed. The classic graph search and sampling methods first perform path planning and then…

In a typical traffic scenario, autonomous vehicles are required to share the road with other road participants, e.g., human driven vehicles, pedestrians, etc. To successfully navigate the traffic, a cognitive hierarchy theory such as…

To ensure safe driving in dynamic environments, autonomous vehicles should possess the capability to accurately predict lane change intentions of surrounding vehicles in advance and forecast their future trajectories. Existing motion…

Numerous groups have applied a variety of deep learning techniques to computer vision problems in highway perception scenarios. In this paper, we presented a number of empirical evaluations of recent deep learning advances. Computer vision,…

Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…

Imitation learning is a promising approach to end-to-end training of autonomous vehicle controllers. Typically the driving process with such approaches is entirely automatic and black-box, although in practice it is desirable to control the…

Recent advances in AI and intelligent vehicle technology hold promise to revolutionize mobility and transportation, in the form of advanced driving assistance (ADAS) interfaces. Although it is widely recognized that certain cognitive…

Being able to rapidly respond to the changing scenes and traffic situations by generating feasible local paths is of pivotal importance for car autonomy. We propose to train a deep neural network (DNN) to plan feasible and nearly-optimal…

Autonomous vehicles must be comprehensively evaluated before deployed in cities and highways. However, most existing evaluation approaches for autonomous vehicles are static and lack adaptability, so they are usually inefficient in…