相关论文: Towards learning-based planning:The nuPlan benchma…

Autonomous driving requires safe planning, but most learning-based planners lack explicit self-correction ability: once an unsafe action is proposed, there is no mechanism to correct it. Thus, we propose CorrectionPlanner, an autoregressive…

Evaluation methods for autonomous driving are crucial for algorithm optimization. However, due to the complexity of driving intelligence, there is currently no comprehensive evaluation method for the level of autonomous driving…

This paper proposes a specialized autonomous driving system that takes into account the unique constraints and characteristics of automotive systems, aiming for innovative advancements in autonomous driving technology. The proposed system…

Local planning is one of the key technologies for mobile robots to achieve full autonomy and has been widely investigated. To evaluate mobile robot local planning approaches in a unified and comprehensive way, a mobile robot local planning…

Forecasting the scalable future states of surrounding traffic participants in complex traffic scenarios is a critical capability for autonomous vehicles, as it enables safe and feasible decision-making. Recent successes in learning-based…

In the area of autonomous driving, navigating off-road terrains presents a unique set of challenges, from unpredictable surfaces like grass and dirt to unexpected obstacles such as bushes and puddles. In this work, we present a novel…

World models have become central to autonomous driving, where accurate scene understanding and future prediction are crucial for safe control. Recent work has explored using vision-language models (VLMs) for planning, yet existing…

World models envision potential future states based on various ego actions. They embed extensive knowledge about the driving environment, facilitating safe and scalable autonomous driving. Most existing methods primarily focus on either…

Human intuition allows to detect abnormal driving scenarios in situations they never experienced before. Like humans detect those abnormal situations and take countermeasures to prevent collisions, self-driving cars need anomaly detection…

Model-free learning-based control methods have recently shown significant advantages over traditional control methods in avoiding complex vehicle characteristic estimation and parameter tuning. As a primary policy learning method, imitation…

Autonomous driving (AD) has made significant strides in recent years. However, existing frameworks struggle to interpret and execute spontaneous user instructions, such as "overtake the car ahead." Large Language Models (LLMs) have…

Real-time path planning in constrained environments remains a fundamental challenge for autonomous systems. Traditional classical planners, while effective under perfect perception assumptions, are often sensitive to real-world perception…

Being able to rapidly respond to the changing scenes and traffic situations by generating feasible local paths is of pivotal importance for car autonomy. We propose to train a deep neural network (DNN) to plan feasible and nearly-optimal…

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…

Navigating safely and efficiently in dense and heterogeneous traffic scenarios is challenging for autonomous vehicles (AVs) due to their inability to infer the behaviors or intentions of nearby drivers. In this work, we introduce a…

Autonomous driving systems face the formidable challenge of navigating intricate and dynamic environments with uncertainty. This study presents a unified prediction and planning framework that concurrently models short-term aleatoric…

Reinforcement learning (RL) faces challenges in trajectory planning for urban automated driving due to the poor convergence of RL and the difficulty in designing reward functions. Consequently, few RL-based trajectory planning methods can…

In this paper we propose a novel end-to-end learnable network that performs joint perception, prediction and motion planning for self-driving vehicles and produces interpretable intermediate representations. Unlike existing neural motion…

While the capabilities of autonomous driving have advanced rapidly, merging into dense traffic remains a significant challenge, many motion planning methods for this scenario have been proposed but it is hard to evaluate them. Most existing…

Self-driving vehicles rely on sensory input to monitor their surroundings and continuously adapt to the most likely future road course. Predictive trajectory planning is based on snapshots of the (uncertain) road course as a key input.…