相关论文: Generalized two-point visual control model of huma…

Steering models (such as the generalized two-point model) predict human steering behavior well when the human is in direct control of a vehicle. In vehicles under autonomous control, human control inputs are not used; rather, an autonomous…

This paper aims to investigate direct imitation learning from human drivers for the task of lane keeping assistance in highway and country roads using grayscale images from a single front view camera. The employed method utilizes…

For lateral vehicle dynamics, planning trajectories for lane-keeping and lane-change can be generalized as a path planning task to stabilize a vehicle onto a target lane, which is a fundamental element in nowadays autonomous driving…

In recent years, autonomous driving algorithms using low-cost vehicle-mounted cameras have attracted increasing endeavors from both academia and industry. There are multiple fronts to these endeavors, including object detection on roads,…

World models can foresee the outcomes of different actions, which is of paramount importance for autonomous driving. Nevertheless, existing driving world models still have limitations in generalization to unseen environments, prediction…

This work proposes a new self-driving framework that uses a human driver control model, whose feature-input values are extracted from images using deep convolutional neural networks (CNNs). The development of image processing techniques…

Motivated by vision-based control of autonomous vehicles, we consider the problem of controlling a known linear dynamical system for which partial state information, such as vehicle position, is extracted from complex and nonlinear data,…

Machine learning models, which are frequently used in self-driving cars, are trained by matching the captured images of the road and the measured angle of the steering wheel. The angle of the steering wheel is generally fetched from…

The lateral position of vehicles within their lane is a decisive factor for the range of vision of vehicle sensors. This, in turn, is crucial for a vehicle's ability to perceive its environment and gain a high situational awareness by…

Precise localization is a core ability of an autonomous vehicle. It is a prerequisite for motion planning and execution. The well-established localization approaches such as Kalman and particle filters require a probabilistic observation…

We define and fully characterize the witnesses based on second moments detecting steering in Gaussian states by means of Gaussian measurements. All such tests, which arise from linear combination of variances or second moments of canonical…

How effective are recent advancements in autonomous vehicle perception systems when applied to real-world autonomous vehicle control? While numerous vision-based autonomous vehicle systems have been trained and evaluated in simulated…

This paper focuses on the problem of predicting the future position of a target road user given its current state, consisting of position and velocity. A weighted average approach is adopted, where the weights are determined from data…

For the optimum design of a driver-automation shared control system, an understanding of driver behavior based on measurements and modeling is crucial early in the development process. This paper presents a driver model through a weighting…

A conceptual and computational framework is proposed for modelling of human sensorimotor control, and is exemplified for the sensorimotor task of steering a car. The framework emphasises control intermittency, and extends on existing models…

In this paper we introduce a general estimation methodology for learning a model of human perception and control in a sensorimotor control task based upon a finite set of demonstrations. The model's structure consists of i the agent's…

Autonomous systems often operate in environments where the behavior of multiple agents is coordinated by a shared global state. Reliable estimation of the global state is thus critical for successfully operating in a multi-agent setting. We…

The thesis presents contributions made to the evaluation and design of a haptic guidance system on improving driving performance in cases of normal and degraded visual information, which are based on behavior experiments, modeling and…

Existing vision based supervised approaches to lateral vehicle control are capable of directly mapping RGB images to the appropriate steering commands. However, they are prone to suffering from inadequate robustness in real world scenarios…

This paper proposes a model to estimate the probability of a vehicle reaching a near-term goal state using one or multiple lane changes based on parameters corresponding to traffic conditions and driving behavior. The proposed model not…