相关论文: Deep Dynamics: Vehicle Dynamics Modeling with a Ph…

Reliably predicting the motion of contestant vehicles surrounding an autonomous racecar is crucial for effective and performant planning. Although highly expressive, deep neural networks are black-box models, making their usage challenging…

Accurate dynamic modeling is critical for autonomous racing vehicles, especially during high-speed and agile maneuvers where precise motion prediction is essential for safety. Traditional parameter estimation methods face limitations such…

Deep Neural Networks (DNNs) which are trained end-to-end have been successfully applied to solve complex problems that we have not been able to solve in past decades. Autonomous driving is one of the most complex problems which is yet to be…

Physics-based simulations are often used to model and understand complex physical systems and processes in domains like fluid dynamics. Such simulations, although used frequently, have many limitations which could arise either due to the…

Autonomous racing is increasingly becoming a proving ground for autonomous vehicle technology at the limits of its current capabilities. The most prominent examples include the F1Tenth racing series, Formula Student Driverless (FSD),…

This paper explores the capability of deep neural networks to capture key characteristics of vehicle dynamics, and their ability to perform coupled longitudinal and lateral control of a vehicle. To this extent, two different artificial…

Substitution of well-grounded theoretical models by data-driven predictions is not as simple in engineering and sciences as it is in social and economic fields. Scientific problems suffer most times from paucity of data, while they may…

Autonomous racing has gained increasing attention in recent years, as a safe environment to accelerate the development of motion planning and control methods for autonomous driving. Deep learning models, predominantly based on neural…

Numerous groups have applied a variety of deep learning techniques to computer vision problems in highway perception scenarios. In this paper, we presented a number of empirical evaluations of recent deep learning advances. Computer vision,…

Autonomous driving technologies have received notable attention in the past decades. In autonomous driving systems, identifying a precise dynamical model for motion control is nontrivial due to the strong nonlinearity and uncertainty in…

Automated driving applications require accurate vehicle specific models to precisely predict and control the motion dynamics. However, modern vehicles have a wide array of digital and mechatronic components that are difficult to model,…

Modeling complex physical dynamics is a fundamental task in science and engineering. Traditional physics-based models are sample efficient, and interpretable but often rely on rigid assumptions. Furthermore, direct numerical approximation…

Physics-constrained neural networks are commonly employed to enhance prediction robustness compared to purely data-driven models, achieved through the inclusion of physical constraint losses during the model training process. However, one…

Self-driving vehicles (SDVs) hold great potential for improving traffic safety and are poised to positively affect the quality of life of millions of people. To unlock this potential one of the critical aspects of the autonomous technology…

Control of a dynamical system without the knowledge of dynamics is an important and challenging task. Modern machine learning approaches, such as deep neural networks (DNNs), allow for the estimation of a dynamics model from control inputs…

A fundamental challenge in car-following modeling lies in accurately representing the multi-scale complexity of driving behaviors, particularly the intra-driver heterogeneity where a single driver's actions fluctuate dynamically under…

The black-box nature of Convolutional Neural Networks (CNNs) and their reliance on large datasets limit their use in complex domains with limited labeled data. Physics-Guided Neural Networks (PGNNs) have emerged to address these limitations…

Designing a controller for autonomous vehicles capable of providing adequate performance in all driving scenarios is challenging due to the highly complex environment and inability to test the system in the wide variety of scenarios which…

Autonomous agile flight brings up fundamental challenges in robotics, such as coping with unreliable state estimation, reacting optimally to dynamically changing environments, and coupling perception and action in real time under severe…

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…