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

Discretionary lane change (DLC) is a basic but complex maneuver in driving, which aims at reaching a faster speed or better driving conditions, e.g., further line of sight or better ride quality. Although many DLC decision-making models…

Overtaking on two-lane roads is a great challenge for autonomous vehicles, as oncoming traffic appearing on the opposite lane may require the vehicle to change its decision and abort the overtaking. Deep reinforcement learning (DRL) has…

In this work, multi-step traffic predictions are leveraged to enable multi-period planning in reconfigurable optical networks. The proposed framework aims to achieve spectrum savings by adapting the network to predicted time-varying…

Lane detection is one of the fundamental modules in self-driving. In this paper we employ a transformer-only method for lane detection, thus it could benefit from the blooming development of fully vision transformer and achieve the…

Synthesis of diverse driving scenes serves as a crucial data augmentation technique for validating the robustness and generalizability of autonomous driving systems. Current methods aggregate high-definition (HD) maps and 3D bounding boxes…

Traffic congestion is becoming a challenge in the rapidly growing urban cities, resulting in increasing delays and inefficiencies within urban transportation systems. To address this issue a comprehensive methodology is designed to optimize…

The utilization of Large Language Models (LLMs) within the realm of reinforcement learning, particularly as planners, has garnered a significant degree of attention in recent scholarly literature. However, a substantial proportion of…

The recent surge in interest in autonomous driving stems from its rapidly developing capacity to enhance safety, efficiency, and convenience. A pivotal aspect of autonomous driving technology is its perceptual systems, where core algorithms…

Topology reasoning is crucial for autonomous driving as it enables comprehensive understanding of connectivity and relationships between lanes and traffic elements. While recent approaches have shown success in perceiving driving topology…

We present a holistically designed three layer control architecture capable of outperforming a professional driver racing the same car. Our approach focuses on the co-design of the motion planning and control layers, extracting the full…

Collaborative perception holds great promise for improving safety in autonomous driving, particularly in dense traffic where vehicles can share sensory information to overcome individual blind spots and extend awareness. However, deploying…

This paper presents a lightweight, end-to-end highway lane detection architecture that jointly captures spatial and temporal information for robust performance in real-world driving scenarios. Building on the strengths of 3D convolutional…

In autonomous driving, end-to-end planners directly utilize raw sensor data, enabling them to extract richer scene features and reduce information loss compared to traditional planners. This raises a crucial research question: how can we…

This comprehensive survey examines the integration of knowledge-based approaches in autonomous driving systems, specifically focusing on trajectory prediction and planning. We extensively analyze various methodologies for incorporating…

3D scene understanding is a critical yet challenging task in autonomous driving due to the irregularity and sparsity of LiDAR data, as well as the computational demands of processing large-scale point clouds. Recent methods leverage…

This survey analyzes intermediate fusion methods in collaborative perception for autonomous driving, categorized by real-world challenges. We examine various methods, detailing their features and the evaluation metrics they employ. The…

Autonomous driving systems require robust lane perception capabilities, yet existing vision-based detection methods suffer significant performance degradation when visual sensors provide insufficient cues, such as in occluded or…

Perceiving the surrounding environment is essential for enabling autonomous or assisted driving functionalities. Common tasks in this domain include detecting road users, as well as determining lane boundaries and classifying driving…

This paper investigates runtime monitoring of perception systems. Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self-driving cars. In these applications, failure of perception…

This paper introduces a local planner that synergizes the decision making and trajectory planning modules towards autonomous driving. The decision making and trajectory planning tasks are jointly formulated as a nonlinear programming…