相关论文: Efficient Perception, Planning, and Control Algori…

This paper proposes a novel methodology for trajectory planning in autonomous vehicles (AVs), addressing the complex challenge of negotiating speed bumps within a unified Mixed-Integer Quadratic Programming (MIQP) framework. By leveraging…

Traffic scene understanding from unmanned aerial vehicle (UAV) platforms is crucial for intelligent transportation systems due to its flexible deployment and wide-area monitoring capabilities. However, existing methods face significant…

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,…

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…

Autonomous driving is a complex and challenging task that aims at safe motion planning through scene understanding and reasoning. While vision-only autonomous driving methods have recently achieved notable performance, through enhanced…

The recent surge in interest in autonomous driving stems from its rapidly developing capacity to enhance safety, efficiency, and convenience. A pivotal aspect of autonomous driving technology is its perceptual systems, where core algorithms…

Trajectory planning and control have historically been separated into two modules in automated driving stacks. Trajectory planning focuses on higher-level tasks like avoiding obstacles and staying on the road surface, whereas the controller…

We present a framework for vision-based model predictive control (MPC) for the task of aggressive, high-speed autonomous driving. Our approach uses deep convolutional neural networks to predict cost functions from input video which are…

In this paper, we present a Model Predictive Control (MPC) framework based on path velocity decomposition paradigm for autonomous driving. The optimization underlying the MPC has a two layer structure wherein first, an appropriate path is…

The comprehension of environmental traffic situation largely ensures the driving safety of autonomous vehicles. Recently, the mission has been investigated by plenty of researches, while it is hard to be well addressed due to the limitation…

With the increasing prevalence of autonomous vehicles, it is essential for computer vision algorithms to accurately assess road features in real-time. This study explores the LaneSegNet architecture, a new approach to lane topology…

Vision-based Transformer have shown huge application in the perception module of autonomous driving in terms of predicting accurate 3D bounding boxes, owing to their strong capability in modeling long-range dependencies between the visual…

An approach to resilient planning and control of autonomous vehicles in multi-vehicle traffic scenarios is proposed. The proposed method is based on model predictive control (MPC), where alternative predictions of the surrounding traffic…

This paper describes an optimized single-stage deep convolutional neural network to detect objects in urban environments, using nothing more than point cloud data. This feature enables our method to work regardless the time of the day and…

Embodied outdoor scene understanding forms the foundation for autonomous agents to perceive, analyze, and react to dynamic driving environments. However, existing 3D understanding is predominantly based on 2D Vision-Language Models (VLMs),…

Road traffic accidents remain a significant global concern, with the majority attributed to human factors such as driver distraction and fatigue. This study proposes a camera-based approach to derive useful indicators to assess driver…

Lane detection is to detect lanes on the road and provide the accurate location and shape of each lane. It severs as one of the key techniques to enable modern assisted and autonomous driving systems. However, several unique properties of…

MPC (Model predictive control)-based motion planning and trajectory generation are essential in applications such as unmanned aerial vehicles, robotic manipulators, and rocket control. However, the real-time implementation of such…

This study introduces the Perception Latency Mitigation Network (PLM-Net), a modular deep learning framework designed to mitigate perception latency in vision-based imitation-learning lane-keeping systems. Perception latency, defined as the…

Autonomous driving is a multi-task problem requiring a deep understanding of the visual environment. End-to-end autonomous systems have attracted increasing interest as a method of learning to drive without exhaustively programming…