相关论文: Deep Q-Network Based Decision Making for Autonomou…

Autonomous lane changing is a critical feature for advanced autonomous driving systems, that involves several challenges such as uncertainty in other driver's behaviors and the trade-off between safety and agility. In this work, we develop…

Live fire creates a dynamic, rapidly changing environment that presents a worthy challenge for deep learning and artificial intelligence methodologies to assist firefighters with scene comprehension in maintaining their situational…

Well-established optimization-based methods can guarantee an optimal trajectory for a short optimization horizon, typically no longer than a few seconds. As a result, choosing the optimal trajectory for this short horizon may still result…

Reinforcement Learning algorithms have recently been proposed to learn time-sequential control policies in the field of autonomous driving. Direct applications of Reinforcement Learning algorithms with discrete action space will yield…

In many real-world decision making problems, reaching an optimal decision requires taking into account a variable number of objects around the agent. Autonomous driving is a domain in which this is especially relevant, since the number of…

Autonomous driving technology is progressing rapidly, largely due to complex End To End systems based on deep neural networks. While these systems are effective, their complexity can make it difficult to understand their behavior, raising…

We present a control approach for autonomous vehicles based on deep reinforcement learning. A neural network agent is trained to map its estimated state to acceleration and steering commands given the objective of reaching a specific target…

Safe and efficient autonomous driving maneuvers in an interactive and complex environment can be considerably challenging due to the unpredictable actions of other surrounding agents that may be cooperative or adversarial in their…

Decision-making module enables autonomous vehicles to reach appropriate maneuvers in the complex urban environments, especially the intersection situations. This work proposes a deep reinforcement learning (DRL) based left-turn…

Machine learning techniques have outperformed numerous rule-based methods for decision-making in autonomous vehicles. Despite recent efforts, lane changing remains a major challenge, due to the complex driving scenarios and changeable…

High-level driving behavior decision-making is an open-challenging problem for connected vehicle technology, especially in heterogeneous traffic scenarios. In this paper, a deep reinforcement learning based high-level driving behavior…

Lane-changing decisions, which are crucial for autonomous vehicle path planning, face practical challenges due to rule-based constraints and limited data. Deep reinforcement learning has become a major research focus due to its advantages…

Safety and efficiency are crucial for autonomous driving in roundabouts, especially mixed traffic with both autonomous vehicles (AVs) and human-driven vehicles. This paper presents a learning-based algorithm that promotes safe and efficient…

In the typical autonomous driving stack, planning and control systems represent two of the most crucial components in which data retrieved by sensors and processed by perception algorithms are used to implement a safe and comfortable…

Autonomous driving is a challenging domain that entails multiple aspects: a vehicle should be able to drive to its destination as fast as possible while avoiding collision, obeying traffic rules and ensuring the comfort of passengers. In…

In this paper, we develop a safe decision-making method for self-driving cars in a multi-lane, single-agent setting. The proposed approach utilizes deep reinforcement learning (RL) to achieve a high-level policy for safe tactical…

A risk-averse preview-based $Q$-learning planner is presented for navigation of autonomous vehicles. To this end, the multi-lane road ahead of a vehicle is represented by a finite-state non-stationary Markov decision process (MDP). A risk…

Autonomous driving technology can improve traffic safety and reduce traffic accidents. In addition, it improves traffic flow, reduces congestion, saves energy and increases travel efficiency. In the relatively mature automatic driving…

Traditional decision and planning frameworks for self-driving vehicles (SDVs) scale poorly in new scenarios, thus they require tedious hand-tuning of rules and parameters to maintain acceptable performance in all foreseeable cases.…

Considering its advantages in dealing with high-dimensional visual input and learning control policies in discrete domain, Deep Q Network (DQN) could be an alternative method of traditional auto-focus means in the future. In this paper,…