相关论文: Safety-Enhanced Autonomous Driving Using Interpret…
One of the main challenges in developing autonomous transport systems based on connected and automated vehicles is the comprehension and understanding of the environment around each vehicle. In many situations, the understanding is limited…
Driver intention prediction seeks to anticipate drivers' actions by analyzing their behaviors with respect to surrounding traffic environments. Existing approaches primarily focus on late-fusion techniques, and neglect the importance of…
Given the wide adoption of multimodal sensors (e.g., camera, lidar, radar) by autonomous vehicles (AVs), deep analytics to fuse their outputs for a robust perception become imperative. However, existing fusion methods often make two…
In autonomous driving, transparency in the decision-making of perception models is critical, as even a single misperception can be catastrophic. Yet with multi-sensor inputs, it is difficult to determine how each modality contributes to a…
Radars, due to their robustness to adverse weather conditions and ability to measure object motions, have served in autonomous driving and intelligent agents for years. However, Radar-based perception suffers from its unintuitive sensing…
Interactive decision-making is essential in applications such as autonomous driving, where the agent must infer the behavior of nearby human drivers while planning in real-time. Traditional predict-then-act frameworks are often insufficient…
Traffic incidents involving vulnerable road users (VRUs) constitute a significant proportion of global road accidents. Advances in traffic communication ecosystems, coupled with sophisticated signal processing and machine learning…
Leading autonomous vehicle (AV) platforms and testing infrastructures are, unfortunately, proprietary and closed-source. Thus, it is difficult to evaluate how well safety-critical AVs perform and how safe they truly are. Similarly, few…
With their potential to significantly reduce traffic accidents, enhance road safety, optimize traffic flow, and decrease congestion, autonomous driving systems are a major focus of research and development in recent years. Beyond these…
There have been numerous advances in reinforcement learning, but the typically unconstrained exploration of the learning process prevents the adoption of these methods in many safety critical applications. Recent work in safe reinforcement…
End-to-end autonomous driving has made impressive progress in recent years. Existing methods usually adopt the decoupled encoder-decoder paradigm, where the encoder extracts hidden features from raw sensor data, and the decoder outputs the…
The real-time crash likelihood prediction model is an essential component of the proactive traffic safety management system. Over the years, numerous studies have attempted to construct a crash likelihood prediction model in order to…
Accurately and promptly predicting accidents among surrounding traffic agents from camera footage is crucial for the safety of autonomous vehicles (AVs). This task presents substantial challenges stemming from the unpredictable nature of…
Inter-vehicle communication for autonomous vehicles (AVs) stands to provide significant benefits in terms of perception robustness. We propose a novel approach for AVs to communicate perceptual observations, tempered by trust modelling of…
This survey explores the adaptation of visual transformer models in Autonomous Driving, a transition inspired by their success in Natural Language Processing. Surpassing traditional Recurrent Neural Networks in tasks like sequential image…
Autonomous driving requires accurate scene understanding, including road geometry, traffic agents, and their semantic relationships. In online HD map generation scenarios, raster-based representations are well-suited to vision models but…
Autonomous vehicles must reason about spatial occlusions in urban environments to ensure safety without being overly cautious. Prior work explored occlusion inference from observed social behaviors of road agents, hence treating people as…
Fusing sensors with complementary modalities is crucial for maintaining a stable and comprehensive understanding of abnormal driving scenes. However, Multimodal Large Language Models (MLLMs) are underexplored for leveraging multi-sensor…
Combining multiple sensors enables a robot to maximize its perceptual awareness of environments and enhance its robustness to external disturbance, crucial to robotic navigation. This paper proposes the FusionPortable benchmark, a complete…
There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…