相关论文: Interpretable Motion Planner for Urban Driving via…

Human-level autonomous driving is an ever-elusive goal, with planning and decision making -- the cognitive functions that determine driving behavior -- posing the greatest challenge. Despite a proliferation of promising approaches, progress…

In the context of urban autonomous driving, imitation learning-based methods have shown remarkable effectiveness, with a typical practice to minimize the discrepancy between expert driving logs and predictive decision sequences. As expert…

Car-following models have made significant contributions to our understanding of longitudinal driving behavior. However, they often exhibit limited accuracy and flexibility, as they cannot fully capture the complexity inherent in…

Although neural networks have seen tremendous success as predictive models in a variety of domains, they can be overly confident in their predictions on out-of-distribution (OOD) data. To be viable for safety-critical applications, like…

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…

Navigation of terrestrial robots is typically addressed either with localization and mapping (SLAM) followed by classical planning on the dynamically created maps, or by machine learning (ML), often through end-to-end training with…

Recently, anchor-based trajectory prediction methods have shown promising performance, which directly selects a final set of anchors as future intents in the spatio-temporal coupled space. However, such methods typically neglect a deeper…

The urban environment is amongst the most difficult domains for autonomous vehicles. The vehicle must be able to plan a safe route on challenging road layouts, in the presence of various dynamic traffic participants such as vehicles,…

Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…

In this article, we propose an optimization-based integrated behavior planning and motion control scheme, which is an interpretable and adaptable urban autonomous driving solution that complies with complex traffic rules while ensuring…

Predicting the future states of surrounding traffic participants and planning a safe, smooth, and socially compliant trajectory accordingly is crucial for autonomous vehicles. There are two major issues with the current autonomous driving…

Planning safe trajectories under uncertain and dynamic conditions makes the autonomous driving problem significantly complex. Current sampling-based methods such as Rapidly Exploring Random Trees (RRTs) are not ideal for this problem…

Fully autonomous racing demands not only high-speed driving but also fair and courteous maneuvers. In this paper, we propose an autonomous racing framework that learns complex racing behaviors from expert demonstrations using hierarchical…

We present a hierarchical neuro-symbolic control framework that tightly couples a classical symbolic planner with a transformer-based policy to address long-horizon decision-making under uncertainty. At the high level, the planner assembles…

For autonomous vehicles, effective behavior planning is crucial to ensure safety of the ego car. In many urban scenarios, it is hard to create sufficiently general heuristic rules, especially for challenging scenarios that some new human…

Learning-based driving solution, a new branch for autonomous driving, is expected to simplify the modeling of driving by learning the underlying mechanisms from data. To improve the tactical decision-making for learning-based driving…

We present a holistically designed three layer control architecture capable of outperforming a professional driver racing the same car. Our approach focuses on the co-design of the motion planning and control layers, extracting the full…

A novel hierarchical Deep Neural Network (DNN) model is presented to address the task of end-to-end driving. The model consists of a master classifier network which determines the driving task required from an input stereo image and directs…

Autonomous driving systems have a pipeline of perception, decision, planning, and control. The decision module processes information from the perception module and directs the execution of downstream planning and control modules. On the…

Efficient behavior and trajectory planning is one of the major challenges for automated driving. Especially intersection scenarios are very demanding due to their complexity arising from the variety of maneuver possibilities and other…