相关论文: Vehicle Type Specific Waypoint Generation

We propose the characteristic generator, a novel one-step generative model that combines the efficiency of sampling in Generative Adversarial Networks (GANs) with the stable performance of flow-based models. Our model is driven by…

In this paper we present a novel approach for lane detection and segmentation using generative models. Traditionally discriminative models have been employed to classify pixels semantically on a road. We model the probability distribution…

Personalized driver models play a key role in the development of advanced driver assistance systems and automated driving systems. Traditionally, physical-based driver models with fixed structures usually lack the flexibility to describe…

Generating adversarial scenarios, which have the potential to fail autonomous driving systems, provides an effective way to improve robustness. Extending purely data-driven generative models, recent specialized models satisfy additional…

The abilities to understand the social interaction behaviors between a vehicle and its surroundings while predicting its trajectory in an urban environment are critical for road safety in autonomous driving. Social interactions are hard to…

Behavior and motion planning play an important role in automated driving. Traditionally, behavior planners instruct local motion planners with predefined behaviors. Due to the high scene complexity in urban environments, unpredictable…

We consider the problem of forecasting motion from a single image, i.e., predicting how objects in the world are likely to move, without the ability to observe other parameters such as the object velocities or the forces applied to them. We…

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…

Trajectory generation and prediction are two interwoven tasks that play important roles in planner evaluation and decision making for intelligent vehicles. Most existing methods focus on one of the two and are optimized to directly output…

Being able to safely operate for extended periods of time in dynamic environments is a critical capability for autonomous systems. This generally involves the prediction and understanding of motion patterns of dynamic entities, such as…

Generative modeling aims at producing new datapoints whose statistical properties resemble the ones in a training dataset. In recent years, there has been a burst of machine learning techniques and settings that can achieve this goal with…

The introduction of highly automated vehicles on the public road may improve safety and comfort, although its success will depend on social acceptance. This requires trajectory planning methods that provide safe, proactive, and comfortable…

This paper presents a novel approach for learning self-awareness models for autonomous vehicles. The proposed technique is based on the availability of synchronized multi-sensor dynamic data related to different maneuvering tasks performed…

In this paper we describe a learned method of traffic scene generation designed to simulate the output of the perception system of a self-driving car. In our "Scene Diffusion" system, inspired by latent diffusion, we use a novel combination…

In this paper, we introduce the first large-scale video prediction model in the autonomous driving discipline. To eliminate the restriction of high-cost data collection and empower the generalization ability of our model, we acquire massive…

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…

The ability to accurately predict and simulate human driving behavior is critical for the development of intelligent transportation systems. Traditional modeling methods have employed simple parametric models and behavioral cloning. This…

Highway driving invariably combines high speeds with the need to interact closely with other drivers. Prediction methods enable autonomous vehicles (AVs) to anticipate drivers' future trajectories and plan accordingly. Kinematic methods for…

We introduce a theory-driven mechanism for learning a neural network model that performs generative topology design in one shot given a problem setting, circumventing the conventional iterative process that computational design tasks…

Coordination recognition and subtle pattern prediction of future trajectories play a significant role when modeling interactive behaviors of multiple agents. Due to the essential property of uncertainty in the future evolution,…