相关论文: Gaussian Lane Keeping: A Robust Prediction Baselin…

Lane keeping in autonomous driving systems requires scenario-specific weight tuning for different objectives. We formulate lane-keeping as a constrained reinforcement learning problem, where weight coefficients are automatically learned…

Traffic forecasting influences various intelligent transportation system (ITS) services and is of great significance for user experience as well as urban traffic control. It is challenging due to the fact that the road network contains…

Accurate and robust recognition and prediction of traffic situation plays an important role in autonomous driving, which is a prerequisite for risk assessment and effective decision making. Although there exist a lot of works dealing with…

Generating accurate and efficient predictions for the motion of the humans present in the scene is key to the development of effective motion planning algorithms for robots moving in promiscuous areas, where wrong planning decisions could…

One of the most critical pieces of the self-driving puzzle is the task of predicting future movement of surrounding traffic actors, which allows the autonomous vehicle to safely and effectively plan its future route in a complex world.…

Vision-based autonomous driving has gained much attention due to its low costs and excellent performance. Compared with dense BEV (Bird's Eye View) or sparse query models, Gaussian-centric method is a comprehensive yet sparse representation…

The use of learning-based methods for vehicle behavior prediction is a promising research topic. However, many publicly available data sets suffer from class distribution skews which limits learning performance if not addressed. This paper…

We focus on the problem of planning the motion of a robot in a dynamic multiagent environment such as a pedestrian scene. Enabling the robot to navigate safely and in a socially compliant fashion in such scenes requires a representation…

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,…

Trajectory prediction, as a critical component of autonomous driving systems, has attracted the attention of many researchers. Existing prediction algorithms focus on extracting more detailed scene features or selecting more reasonable…

Motion prediction, recently popularized as world models, refers to the anticipation of future agent states or scene evolution, which is rooted in human cognition, bridging perception and decision-making. It enables intelligent systems, such…

A fundamental aspect of racing is overtaking other race cars. Whereas previous research on autonomous racing has majorly focused on lap-time optimization, here, we propose a method to plan overtaking maneuvers in autonomous racing. A…

Trajectory prediction is crucial for autonomous vehicles. The planning system not only needs to know the current state of the surrounding objects but also their possible states in the future. As for vehicles, their trajectories are…

Behavior prediction plays an essential role in both autonomous driving systems and Advanced Driver Assistance Systems (ADAS), since it enhances vehicle's awareness of the imminent hazards in the surrounding environment. Many existing lane…

Predicting the motion of a driver's vehicle is crucial for advanced driving systems, enabling detection of potential risks towards shared control between the driver and automation systems. In this paper, we propose a variational neural…

Autonomous vehicles currently suffer from a time-inefficient driving style caused by uncertainty about human behavior in traffic interactions. Accurate and reliable prediction models enabling more efficient trajectory planning could make…

Rapid urbanization and growing urban populations worldwide present significant challenges for cities, including increased traffic congestion and air pollution. Effective strategies are needed to manage traffic volumes and reduce emissions.…

The control of a single agent in complex and uncertain multi-agent environments requires careful consideration of the interactions between the agents. In this context, this paper proposes a dual model predictive control (MPC) method using…

Traffic prediction is a spatiotemporal predictive task that plays an essential role in intelligent transportation systems. Today, graph convolutional neural networks (GCNNs) have become the prevailing models in the traffic prediction…

Trajectory prediction is crucial for autonomous driving, enabling vehicles to navigate safely by anticipating the movements of surrounding road users. However, current deep learning models often lack trustworthiness as their predictions can…