相关论文: Improving Motion Forecasting for Autonomous Drivin…

One of the key challenges for autonomous vehicles is the ability to accurately predict the motion of other objects in the surrounding environment, such as pedestrians or other vehicles. In this contribution, a novel motion forecasting…

This work studies the problem of predicting the sequence of future actions for surround vehicles in real-world driving scenarios. To this aim, we make three main contributions. The first contribution is an automatic method to convert the…

Robots and automated systems are increasingly being introduced to unknown and dynamic environments where they are required to handle disturbances, unmodeled dynamics, and parametric uncertainties. Robust and adaptive control strategies are…

Predicting the motion of a driver's vehicle is crucial for advanced driving systems, enabling detection of potential risks towards shared control between the driver and automation systems. In this paper, we propose a variational neural…

Accurate trajectory prediction is crucial for autonomous driving, yet uncertainty in agent behavior and perception noise makes it inherently challenging. While multi-modal trajectory prediction models generate multiple plausible future…

This paper proposes a dynamic regression (DR) framework that enhances existing deep spatiotemporal models by incorporating structured learning for the error process in traffic forecasting. The framework relaxes the assumption of time…

A novel learning Model Predictive Control technique is applied to the autonomous racing problem. The goal of the controller is to minimize the time to complete a lap. The proposed control strategy uses the data from previous laps to improve…

Motion planning for autonomous vehicles requires spatio-temporal motion plans (i.e. state trajectories) to account for dynamic obstacles. This requires a trajectory tracking control process which faithfully tracks planned trajectories. In…

Human motion prediction is an essential component for enabling closer human-robot collaboration. The task of accurately predicting human motion is non-trivial. It is compounded by the variability of human motion, both at a skeletal level…

One of the critical challenges in automated driving is ensuring safety of automated vehicles despite the unknown behavior of the other vehicles. Although motion prediction modules are able to generate a probability distribution associated…

Accurate and robust trajectory predictions of road users are needed to enable safe automated driving. To do this, machine learning models are often used, which can show erratic behavior when presented with previously unseen inputs. In this…

Learning socially-aware motion representations is at the core of recent advances in multi-agent problems, such as human motion forecasting and robot navigation in crowds. Despite promising progress, existing representations learned with…

Prior arts in the field of motion predictions for autonomous driving tend to focus on finding a trajectory that is close to the ground truth trajectory. Such problem formulations and approaches, however, frequently lead to loss of diversity…

In the rapidly evolving field of autonomous driving, reliable prediction is pivotal for vehicular safety. However, trajectory predictions often deviate from actual paths, particularly in complex and challenging environments, leading to…

Trajectory prediction is an important task, especially in autonomous driving. The ability to forecast the position of other moving agents can yield to an effective planning, ensuring safety for the autonomous vehicle as well for the…

Rolling origin forecast instability refers to variability in forecasts for a specific period induced by updating the forecast when new data points become available. Recently, an extension to the N-BEATS model for univariate time series…

The ability to predict the future movements of other vehicles is a subconscious and effortless skill for humans and key to safe autonomous driving. Therefore, trajectory prediction for autonomous cars has gained a lot of attention in recent…

The earth system is exceedingly complex and often chaotic in nature, making prediction incredibly challenging: we cannot expect to make perfect predictions all of the time. Instead, we look for specific states of the system that lead to…

This paper presents a prediction algorithm that estimates the vehicle trajectory every five milliseconds for an autonomous vehicle. A kinematic and a dynamic bicycle model are compared, with the dynamic model exhibiting superior accuracy at…

In order to plan a safe maneuver an autonomous vehicle must accurately perceive its environment, and understand the interactions among traffic participants. In this paper, we aim to learn scene-consistent motion forecasts of complex urban…