相关论文: Perception Helps Planning: Facilitating Multi-Stag…

Navigating dense, lane-less traffic remains one of the most challenging scenarios for autonomous vehicles, especially in emerging regions where road structure and driver behavior are highly unpredictable. This paper presents a hybrid…

Lane detection is to detect lanes on the road and provide the accurate location and shape of each lane. It severs as one of the key techniques to enable modern assisted and autonomous driving systems. However, several unique properties of…

The significant achievements of pre-trained models leveraging large volumes of data in the field of NLP and 2D vision inspire us to explore the potential of extensive data pre-training for 3D perception in autonomous driving. Toward this…

In this work, we address the motion planning problem for autonomous vehicles through a new lattice planning approach, called Feedback Enhanced Lattice Planner (FELP). Existing lattice planners have two major limitations, namely the high…

Lane detection plays a critical role in the field of autonomous driving. Prevailing methods generally adopt basic concepts (anchors, key points, etc.) from object detection and segmentation tasks, while these approaches require manual…

Accurately detecting lane lines in 3D space is crucial for autonomous driving. Existing methods usually first transform image-view features into bird-eye-view (BEV) by aid of inverse perspective mapping (IPM), and then detect lane lines…

Human-vehicle cooperative driving has become the critical technology of autonomous driving, which reduces the workload of human drivers. However, the complex and uncertain road environments bring great challenges to the visual perception of…

Real-time scene parsing is a fundamental feature for autonomous driving vehicles with multiple cameras. In this letter we demonstrate that sharing semantics between cameras with different perspectives and overlapped views can boost the…

Collaborative perception in automated vehicles leverages the exchange of information between agents, aiming to elevate perception results. Previous camera-based collaborative 3D perception methods typically employ 3D bounding boxes or…

Perception is one of the crucial module of the autonomous driving system, which has made great progress recently. However, limited ability of individual vehicles results in the bottleneck of improvement of the perception performance. To…

Advanced driver assistance systems have improved comfort, safety, and efficiency of modern vehicles. However, sensor limitations lead to noisy lane estimates that pose a significant challenge in developing performant control architectures.…

Many existing autonomous driving paradigms involve a multi-stage discrete pipeline of tasks. To better predict the control signals and enhance user safety, an end-to-end approach that benefits from joint spatial-temporal feature learning is…

Navigating automated driving systems (ADSs) through complex driving environments is difficult. Predicting the driving behavior of surrounding human-driven vehicles (HDVs) is a critical component of an ADS. This paper proposes an enhanced…

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…

Predicting risk map of traffic accidents is vital for accident prevention and early planning of emergency response. Here, the challenge lies in the multimodal nature of urban big data. We propose a compact neural ensemble model to alleviate…

Most common tasks for robots in dynamic spaces require that the environment is regularly and actively perceived, with many of them explicitly requiring objects or persons to be within view, i.e., for monitoring or safety. However, solving…

Since the traffic administration at road intersections determines the capacity bottleneck of modern transportation systems, intelligent cooperative coordination for connected autonomous vehicles (CAVs) has shown to be an effective solution.…

High definition (HD) maps have demonstrated their essential roles in enabling full autonomy, especially in complex urban scenarios. As a crucial layer of the HD map, lane-level maps are particularly useful: they contain geometrical and…

Autonomous driving has a natural bi-level structure. The goal of the upper behavioural layer is to provide appropriate lane change, speeding up, and braking decisions to optimize a given driving task. However, this layer can only indirectly…

Traditionally, prediction and planning in autonomous driving (AD) have been treated as separate, sequential modules. Recently, there has been a growing shift towards tighter integration of these components, known as Integrated Prediction…