相关论文: Connectivity Enhanced Safe Neural Network Planner …

Predicting the future motion of traffic agents is crucial for safe and efficient autonomous driving. To this end, we present PredictionNet, a deep neural network (DNN) that predicts the motion of all surrounding traffic agents together with…

Motion planners take uncertain information about the environment as an input. The environment information is often quite noisy and has a tendency to contain false positive object detection. State-of-the-art motion planners consider all…

An intelligent agent operating in the real-world must balance achieving its goal with maintaining the safety and comfort of not only itself, but also other participants within the surrounding scene. This requires jointly reasoning about the…

This paper studies the need for individualizing vehicular communications in order to improve collision warning systems for an N-lane highway scenario. By relating the traffic-based and communications studies, we aim at reducing highway…

Combining motion prediction and motion planning offers a promising framework for enhancing interactions between automated vehicles and other traffic participants. However, this introduces challenges in conditioning predictions on navigation…

Connected autonomous vehicles (CAVs) can supplement the information from their own sensors with information from surrounding CAVs for decision making and control. This has the potential to improve traffic efficiency. CAVs face additional…

Achieving human-like driving behaviors in complex open-world environments is a critical challenge in autonomous driving. Contemporary learning-based planning approaches such as imitation learning methods often struggle to balance competing…

Embedded with advanced sensors, cameras and processors, the emerging automated driving vehicles are capable of sensing the environment and conducting automobile operation, paving the way to modern intelligent transportation systems (ITS)…

Safe autonomous driving in mixed traffic requires a unified understanding of multimodal interactions and dynamic planning under uncertainty. Existing learning based approaches struggle to capture rare but safety critical behaviors, while…

To plan a safe and efficient route, an autonomous vehicle should anticipate future motions of other agents around it. Motion prediction is an extremely challenging task which recently gained significant attention of the research community.…

The ability to update a path plan is a required capability for autonomous mobile robots navigating through uncertain environments. This paper proposes a re-planning strategy using a multilayer planning and control framework for cases where…

This paper investigates the longitudinal control problem in a dynamic traffic environment where driving scenarios change between free-driving scenarios and car-following scenarios. A comprehensive longitudinal controller is proposed to…

Collision avoidance in unknown obstacle-cluttered environments may not always be feasible. This paper focuses on an emerging paradigm shift in which potential collisions with the environment can be harnessed instead of being avoided…

Path planning in obstacle-dense environments is a key challenge in robotics, and depends on inferring scene attributes and associated uncertainties. We present a multiple-hypothesis path planner designed to navigate complex environments…

Lane change is a crucial vehicle maneuver which needs coordination with surrounding vehicles. Automated lane changing functions built on rule-based models may perform well under pre-defined operating conditions, but they may be prone to…

With the rapid development of intelligent vehicles and Advanced Driver-Assistance Systems (ADAS), a new trend is that mixed levels of human driver engagements will be involved in the transportation system. Therefore, necessary visual…

In this paper, a human-like driving framework is designed for autonomous vehicles (AVs), which aims to make AVs better integrate into the transportation ecology of human driving and eliminate the misunderstanding and incompatibility of…

Efficient data transmission scheduling within vehicular environments poses a significant challenge due to the high mobility of such networks. Contemporary research predominantly centers on crafting cooperative scheduling algorithms tailored…

The motion planners used in self-driving vehicles need to generate trajectories that are safe, comfortable, and obey the traffic rules. This is usually achieved by two modules: behavior planner, which handles high-level decisions and…

Autonomous navigation in dense traffic scenarios remains challenging for autonomous vehicles (AVs) because the intentions of other drivers are not directly observable and AVs have to deal with a wide range of driving behaviors. To maneuver…