相关论文: Maneuver Decision-Making with Trajectory Streams P…

With the rapid development of machine learning, autonomous driving has become a hot issue, making urgent demands for more intelligent perception and planning systems. Self-driving cars can avoid traffic crashes with precisely predicted…

The vision of automated driving is to increase both road safety and efficiency, while offering passengers a convenient travel experience. This requires that autonomous systems correctly estimate the current traffic scene and its likely…

Autonomous vehicles rely on accurate trajectory prediction to inform decision-making processes related to navigation and collision avoidance. However, current trajectory prediction models show signs of overfitting, which may lead to unsafe…

In this paper, we develop an uncertainty-aware decision-making and motion-planning method for an autonomous ego vehicle in forced merging scenarios, considering the motion uncertainty of surrounding vehicles. The method dynamically captures…

As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…

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…

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…

Autonomous vehicle navigation is a key challenge in artificial intelligence, requiring robust and accurate decision-making processes. This research introduces a new end-to-end method that exploits multimodal information from a single…

Quantifying and encoding occupants' preferences as an objective function for the tactical decision making of autonomous vehicles is a challenging task. This paper presents a low-complexity approach for lane-change initiation and planning to…

Safe autonomous navigation is an essential and challenging problem for robots operating in highly unstructured or completely unknown environments. Under these conditions, not only robotic systems must deal with limited localisation…

Autonomous driving has become one of the most popular research topics within Artificial Intelligence. An autonomous vehicle is understood as a system that combines perception, decision-making, planning, and control. All of those tasks…

Predicting the behaviour (i.e., manoeuvre/trajectory) of other road users, including vehicles, is critical for the safe and efficient operation of autonomous vehicles (AVs), a.k.a., automated driving systems (ADSs). Due to the uncertain…

Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…

Automated driving in urban scenarios requires efficient planning algorithms able to handle complex situations in real-time. A popular approach is to use graph-based planning methods in order to obtain a rough trajectory which is…

This research introduces two efficient methods to estimate the collision risk of planned trajectories in autonomous driving under uncertain driving conditions. Deterministic collision checks of planned trajectories are often inaccurate or…

Motion planning for underwater vehicles must consider the effect of ocean currents. We present an efficient method to compute reachability and cost between sample points in sampling-based motion planning that supports long-range planning…

Reasoning about human motion is an important prerequisite to safe and socially-aware robotic navigation. As a result, multi-agent behavior prediction has become a core component of modern human-robot interactive systems, such as…

Forecasting the future trajectories of surrounding agents is crucial for autonomous vehicles to ensure safe, efficient, and comfortable route planning. While model ensembling has improved prediction accuracy in various fields, its…

A typical trajectory planner of autonomous driving commonly relies on predicting the future behavior of surrounding obstacles. Recently, deep learning technology has been widely adopted to design prediction models due to their impressive…

Recent analyses highlight challenges in autonomous vehicle technologies, particularly failures in decision-making under dynamic or emergency conditions. Traditional automated driving systems recalculate the entire trajectory in a changing…