相关论文: Perception Without Vision for Trajectory Predictio…

In this work, we present a learning method for lateral and longitudinal motion control of an ego-vehicle for vehicle pursuit. The car being controlled does not have a pre-defined route, rather it reactively adapts to follow a target vehicle…

Self-driving vehicles must be able to act intelligently in diverse and difficult environments, marked by high-dimensional state spaces, a myriad of optimization objectives and complex behaviors. Traditionally, classical optimization and…

Trajectory prediction is essential for the safety and efficiency of planning in autonomous vehicles. However, current models often fail to fully capture complex traffic rules and the complete range of potential vehicle movements. Addressing…

Learning-based perception and prediction modules in modern autonomous driving systems typically rely on expensive human annotation and are designed to perceive only a handful of predefined object categories. This closed-set paradigm is…

Although deep neural networks enable impressive visual perception performance for autonomous driving, their robustness to varying weather conditions still requires attention. When adapting these models for changed environments, such as…

To navigate safely in urban environments, an autonomous vehicle (ego vehicle) must understand and anticipate its surroundings, in particular the behavior and intents of other road users (neighbors). Most of the times, multiple decision…

Imitation learning holds great promise for addressing the complex task of autonomous urban driving, as experienced human drivers can navigate highly challenging scenarios with ease. While behavior cloning is a widely used imitation learning…

The goal of autonomous vehicles is to navigate public roads safely and comfortably. To enforce safety, traditional planning approaches rely on handcrafted rules to generate trajectories. Machine learning-based systems, on the other hand,…

Human-interactive robotic systems, particularly autonomous vehicles (AVs), must effectively integrate human instructions into their motion planning. This paper introduces doScenes, a novel dataset designed to facilitate research on…

Existing physical adversarial attacks on vision-based autonomous driving induce time-evolving perception errors, including biased object tracking or trajectory prediction, through (i) sophisticated physical patch inducing detection box…

Accurately predicting the trajectory of surrounding vehicles is a critical challenge for autonomous vehicles. In complex traffic scenarios, there are two significant issues with the current autonomous driving system: the cognitive…

Autonomous vehicles interacting with other traffic participants heavily rely on the perception and prediction of other agents' behaviors to plan safe trajectories. However, as occlusions limit the vehicle's perception ability, reasoning…

A key component in autonomous driving is the ability of the self-driving car to understand, track and predict the dynamics of the surrounding environment. Although there is significant work in the area of object detection, tracking and…

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,…

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.…

In this work, we tackle two vital tasks in automated driving systems, i.e., driver intent prediction and risk object identification from egocentric images. Mainly, we investigate the question: what would be good road scene-level…

Prediction of dynamic environment is crucial to safe navigation of an autonomous vehicle. Urban traffic scenes are particularly challenging to forecast due to complex interactions between various dynamic agents, such as vehicles and…

In the rapidly evolving field of autonomous driving, reliable prediction is pivotal for vehicular safety. However, trajectory predictions often deviate from actual paths, particularly in complex and challenging environments, leading to…

As autonomous driving technology progresses, the need for precise trajectory prediction models becomes paramount. This paper introduces an innovative model that infuses cognitive insights into trajectory prediction, focusing on perceived…

Labeling a large set of data is expensive. Active learning aims to tackle this problem by asking to annotate only the most informative data from the unlabeled set. We propose a novel active learning approach that utilizes self-supervised…