相关论文: Diverse Probabilistic Trajectory Forecasting with …

Generating realistic vehicle speed trajectories is a crucial component in evaluating vehicle fuel economy and in predictive control of self-driving cars. Traditional generative models rely on Markov chain methods and can produce accurate…

This paper studies the problem of predicting the distribution over multiple possible future paths of people as they move through various visual scenes. We make two main contributions. The first contribution is a new dataset, created in a…

As vehicle automation advances, motion planning algorithms face escalating challenges in achieving safe and efficient navigation. Existing Advanced Driver Assistance Systems (ADAS) primarily focus on basic tasks, leaving unexpected…

We present a trajectory generation framework for control of wheeled vehicles under steering actuator constraints. The motivation is smooth autonomous driving of heavy vehicles. The key idea is to take into account rate, and additionally,…

Predicting traffic agents' trajectories is an important task for auto-piloting. Most previous work on trajectory prediction only considers a single class of road agents. We use a sequence-to-sequence model to predict future paths from…

Autonomous driving presents one of the largest problems that the robotics and artificial intelligence communities are facing at the moment, both in terms of difficulty and potential societal impact. Self-driving vehicles (SDVs) are expected…

Probabilistic vehicle trajectory prediction is essential for robust safety of autonomous driving. Current methods for long-term trajectory prediction cannot guarantee the physical feasibility of predicted distribution. Moreover, their…

Motion prediction and cost evaluation are vital components in the decision-making system of autonomous vehicles. However, existing methods often ignore the importance of cost learning and treat them as separate modules. In this study, we…

Multi-agent trajectory planning requires ensuring both safety and efficiency, yet deadlocks remain a significant challenge, especially in obstacle-dense environments. Such deadlocks frequently occur when multiple agents attempt to traverse…

Due to the uncertainty of traffic participants' intentions, generating safe but not overly cautious behavior in interactive driving scenarios remains a formidable challenge for autonomous driving. In this paper, we address this issue by…

We present DDTO--deferred-decision trajectory optimization--a framework for trajectory generation with resilience to unmodeled uncertainties and contingencies. The key idea is to ensure that a collection of candidate targets is reachable…

Motion prediction of surrounding vehicles is one of the most important tasks handled by a self-driving vehicle, and represents a critical step in the autonomous system necessary to ensure safety for all the involved traffic actors. Recently…

Trajectory prediction models in autonomous driving are vulnerable to perturbations from non-causal agents whose actions should not affect the ego-agent's behavior. Such perturbations can lead to incorrect predictions of other agents'…

Pedestrian trajectory prediction is an essential component in a wide range of AI applications such as autonomous driving and robotics. Existing methods usually assume the training and testing motions follow the same pattern while ignoring…

There is a gap in risk assessment of trajectories between the trajectory information coming from a traffic motion prediction module and what is actually needed. Closing this gap necessitates advancements in prediction beyond current…

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…

Predicting the trajectories of surrounding agents is an essential ability for autonomous vehicles navigating through complex traffic scenes. The future trajectories of agents can be inferred using two important cues: the locations and past…

Motion prediction for intelligent vehicles typically focuses on estimating the most probable future evolutions of a traffic scenario. Estimating the gap acceptance, i.e., whether a vehicle merges or crosses before another vehicle with the…

Predicting the behaviour (i.e., manoeuvre/trajectory) of other road users, including vehicles, is critical for the safe and efficient operation of autonomous vehicles (AVs), a.k.a., automated driving systems (ADSs). Due to the uncertain…

By framing reinforcement learning as a sequence modeling problem, recent work has enabled the use of generative models, such as diffusion models, for planning. While these models are effective in predicting long-horizon state trajectories…