相关论文: Hierarchical End-to-End Autonomous Driving: Integr…

Ramp metering that uses traffic signals to regulate vehicle flows from the on-ramps has been widely implemented to improve vehicle mobility of the freeway. Previous studies generally update signal timings in real-time based on predefined…

Fully autonomous driving has been widely studied and is becoming increasingly feasible. However, such autonomous driving has yet to be achieved on public roads, because of various uncertainties due to surrounding human drivers and…

We consider vehicular networking scenarios where existing vehicle-to-vehicle (V2V) links can be leveraged for an effective uploading of large-size data to the network. In particular, we consider a group of vehicles where one vehicle can be…

Current research on Deep Reinforcement Learning (DRL) for automated on-ramp merging neglects vehicle powertrain and dynamics. This work considers automated on-ramp merging for a power-split Plug-In Hybrid Electric Vehicle (PHEV), the 2015…

Development of hybrid electric vehicles depends on an advanced and efficient energy management strategy (EMS). With online and real-time requirements in mind, this article presents a human-like energy management framework for hybrid…

This paper proposes an adaptive energy management strategy for hybrid electric vehicles by combining deep reinforcement learning (DRL) and transfer learning (TL). This work aims to address the defect of DRL in tedious training time. First,…

Efficient reasoning about the semantic, spatial, and temporal structure of a scene is a crucial prerequisite for autonomous driving. We present NEural ATtention fields (NEAT), a novel representation that enables such reasoning for…

Deep learning has been used to demonstrate end-to-end neural network learning for autonomous vehicle control from raw sensory input. While LiDAR sensors provide reliably accurate information, existing end-to-end driving solutions are mainly…

Automated driving at unsignalized intersections is challenging due to complex multi-vehicle interactions and the need to balance safety and efficiency. Model Predictive Control (MPC) offers structured constraint handling through…

Autonomous parking is a critical component for achieving safe and efficient urban autonomous driving. However, unstructured environments and dynamic interactions pose significant challenges to autonomous parking tasks. To address this…

Deep Reinforcement Learning (DRL) has become increasingly powerful in recent years, with notable achievements such as Deepmind's AlphaGo. It has been successfully deployed in commercial vehicles like Mobileye's path planning system.…

We present a flow-matching planner for autonomous driving that directly outputs actionable control trajectories defined by acceleration and curvature profiles. The model is conditioned on a bird's-eye-view (BEV) raster of the surrounding…

Expressing images with Multi-Resolution (MR) features has been widely adopted in many computer vision tasks. In this paper, we introduce the MR concept into Bird's-Eye-View (BEV) semantic segmentation for autonomous driving. This…

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,…

Predicting the trajectory of an ego vehicle is a critical component of autonomous driving systems. Current state-of-the-art methods typically rely on Deep Neural Networks (DNNs) and sequential models to process front-view images for future…

Reinforcement learning (RL) in autonomous driving employs a trial-and-error mechanism, enhancing robustness in unpredictable environments. However, crafting effective reward functions remains challenging, as conventional approaches rely…

The classical method of autonomous racing uses real-time localisation to follow a precalculated optimal trajectory. In contrast, end-to-end deep reinforcement learning (DRL) can train agents to race using only raw LiDAR scans. While…

Deep reinforcement learning (DRL) methods have demonstrated potential for autonomous navigation and obstacle avoidance of unmanned ground vehicles (UGVs) in crowded environments. Most existing approaches rely on single-frame observation and…

Many real-world applications can be formulated as multi-agent cooperation problems, such as network packet routing and coordination of autonomous vehicles. The emergence of deep reinforcement learning (DRL) provides a promising approach for…

Deep learning has revolutionized the ability to learn "end-to-end" autonomous vehicle control directly from raw sensory data. While there have been recent extensions to handle forms of navigation instruction, these works are unable to…