相关论文: GraphSCENE: On-Demand Critical Scenario Generation…

Autonomous vehicles hold great promise in improving the future of transportation. The driving models used in these vehicles are based on neural networks, which can be difficult to validate. However, ensuring the safety of these models is…

Corner case scenarios are an essential tool for testing and validating the safety of autonomous vehicles (AVs). As these scenarios are often insufficiently present in naturalistic driving datasets, augmenting the data with synthetic corner…

Autonomous vehicle (AV) planners must undergo rigorous evaluation before widespread deployment on public roads, particularly to assess their robustness against the uncertainty of human behaviors. While recent advancements in data-driven…

A scenario-based testing approach can reduce the time required to obtain statistically significant evidence of the safety of Automated Driving Systems (ADS). Identifying these scenarios in an automated manner is a challenging task. Most…

Predicting future motions of nearby agents is essential for an autonomous vehicle to take safe and effective actions. In this paper, we propose TSGN, a framework using Temporal Scene Graph Neural Networks with projected vectorized…

By interpreting a traffic scene as a graph of interacting vehicles, we gain a flexible abstract representation which allows us to apply Graph Neural Network (GNN) models for traffic prediction. These naturally take interaction between…

Graph Neural Networks (GNN) have recently gained popularity in the forecasting domain due to their ability to model complex spatial and temporal patterns in tasks such as traffic forecasting and region-based demand forecasting. Most of…

Ensuring the safety of autonomous vehicles (AV) requires rigorous testing under both everyday driving and rare, safety-critical conditions. A key challenge lies in simulating environment agents, including background vehicles (BVs) and…

Safety-critical scenarios are essential for the development of autonomous vehicles (AVs) but are rare in real-world driving data. While simulation offers a way to generate such scenarios, manually designed test cases lack scalability, and…

Predicting the future paths of an agent's neighbors accurately and in a timely manner is central to the autonomous applications for collision avoidance. Conventional approaches, e.g., LSTM-based models, take considerable computational costs…

Automated lane changing is a critical feature for advanced autonomous driving systems. In recent years, reinforcement learning (RL) algorithms trained on traffic simulators yielded successful results in computing lane changing policies that…

Scenario-based testing is an indispensable instrument for the comprehensive validation and verification of automated vehicles (AVs). However, finding a manageable and finite, yet representative subset of scenarios in a scalable, possibly…

Emergency vehicles require rapid passage through congested traffic, yet existing strategies fail to adapt to dynamic conditions. We propose a novel hierarchical graph neural network (GNN)-based multi-agent reinforcement learning framework…

Due to the complex and changing interactions in dynamic scenarios, motion forecasting is a challenging problem in autonomous driving. Most existing works exploit static road graphs to characterize scenarios and are limited in modeling…

Representing relevant information of a traffic scene and understanding its environment is crucial for the success of autonomous driving. Modeling the surrounding of an autonomous car using semantic relations, i.e., how different traffic…

In this paper, we present a learning-based framework that accelerates time- and energy-optimal trajectory planning for connected and automated vehicles (CAVs) using graph neural networks (GNNs). We formulate the multi-agent coordination…

Extracting interesting scenarios from real-world data as well as generating failure cases is important for the development and testing of autonomous systems. We propose efficient mechanisms to both characterize and generate testing…

Validating the safety of Autonomous Vehicles (AVs) operating in open-ended, dynamic environments is challenging as vehicles will eventually encounter safety-critical situations for which there is not representative training data. By…

Evaluating and training autonomous driving systems require diverse and scalable corner cases. However, most existing scene generation methods lack controllability, accuracy, and versatility, resulting in unsatisfactory generation results.…

Maintaining situational awareness in complex driving scenarios is challenging. It requires continuously prioritizing attention among extensive scene entities and understanding how prominent hazards might affect the ego vehicle. While…