相关论文: Safe and Human-Like Autonomous Driving: A Predicto…

In most classical Autonomous Vehicle (AV) stacks, the prediction and planning layers are separated, limiting the planner to react to predictions that are not informed by the planned trajectory of the AV. This work presents a module that…

This paper presents a novel two-level control architecture for a fully autonomous vehicle in a deterministic environment, which can handle traffic rules as specifications and low-level vehicle control with real-time performance. At the top…

Dense urban traffic environments can produce situations where accurate prediction and dynamic models are insufficient for successful autonomous vehicle motion planning. We investigate how an autonomous agent can safely negotiate with other…

This paper considers for the first time pursuit-evasion (PE) differential games with irrational perceptions of both pursuer and evader on probabilistic characteristics of environmental uncertainty. Firstly, the irrational perceptions of…

This paper introduces a reinforcement learning framework that enables controllable and diverse player behaviors without relying on human gameplay data. Existing approaches often require large-scale player trajectories, train separate models…

To address the challenge of insufficient interactivity and behavioral diversity in autonomous driving decision-making, this paper proposes a Cognitive Hierarchical Agent for Reasoning and Motion Stylization (CHARMS). By leveraging Level-k…

We propose a model predictive control approach for autonomous vehicles that exploits learned Gaussian processes for predicting human driving behavior. The proposed approach employs the uncertainty about the GP's prediction to achieve…

End-to-end autonomous driving resides not in the integration of perception and planning, but rather in the dynamic multi-agent game within a unified representation space. Most existing end-to-end models treat all agents equally, hindering…

Recent years have witnessed the proliferation of traffic accidents, which led wide researches on Automated Vehicle (AV) technologies to reduce vehicle accidents, especially on risk assessment framework of AV technologies. However, existing…

An open problem in autonomous driving research is modeling human driving behavior, which is needed for the planning component of the autonomy stack, safety validation through traffic simulation, and causal inference for generating…

This paper presents an integrated motion planning system for autonomous vehicle (AV) parking in the presence of other moving vehicles. The proposed system includes 1) a hybrid environment predictor that predicts the motions of the…

An autonomous navigation with proven collision avoidance in unknown and dynamic environments is still a challenge, particularly when there are moving obstacles. A popular approach to collision avoidance in the face of moving obstacles is…

In a given scenario, simultaneously and accurately predicting every possible interaction of traffic participants is an important capability for autonomous vehicles. The majority of current researches focused on the prediction of an single…

In this paper, we study a routing and travel-mode choice problem for mobility systems with a multimodal transportation network as a ``mobility game" with coupled action sets. We develop a game-theoretic framework to study the impact on…

Driverless vehicles are complex systems operating in constantly changing environments. Automated driving is achieved by controlling the coupled longitudinal and lateral vehicle dynamics. Model predictive control is one of the most promising…

We propose integrating an approximation of a predictive control barrier function (PCBF) in a safety filter framework, resulting in a prediction horizon independent formulation. The PCBF is defined through the value function of an optimal…

This study investigates an adaptive pricing scheme aimed at achieving an efficient state in a traffic congestion game characterized by a diverse population of road users. While the planner possesses knowledge of players' preferences, their…

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…

Developing reliable autonomous driving algorithms poses challenges in testing, particularly when it comes to safety-critical traffic scenarios involving pedestrians. An open question is how to simulate rare events, not necessarily found in…

Agentic AI systems, possessing capabilities for autonomous planning and action, show great potential across diverse domains. However, their practical deployment is hindered by challenges in aligning their behavior with varied human values,…