相关论文: Generating Traffic Scenarios via In-Context Learni…

Testing is essential for verifying and validating control designs, especially in safety-critical applications. In particular, the control system governing an automated driving vehicle must be proven reliable enough for its acceptance on the…

Scenario-based testing is a promising method to develop, verify and validate automated driving systems (ADS) since pure on-road testing seems inefficient for complex traffic environments. A major challenge for this approach is the provision…

Trajectory planning is vital for autonomous driving, ensuring safe and efficient navigation in complex environments. While recent learning-based methods, particularly reinforcement learning (RL), have shown promise in specific scenarios, RL…

An efficient path planner for autonomous car-like vehicles should handle the strong kinematic constraints, particularly in confined spaces commonly encountered while maneuvering in city traffic, and should enable rapid planning, as the city…

The generation of corner cases has become increasingly crucial for efficiently testing autonomous vehicles prior to road deployment. However, existing methods struggle to accommodate diverse testing requirements and often lack the ability…

In the context of urban autonomous driving, imitation learning-based methods have shown remarkable effectiveness, with a typical practice to minimize the discrepancy between expert driving logs and predictive decision sequences. As expert…

While motion planning approaches for automated driving often focus on safety and mathematical optimality with respect to technical parameters, they barely consider convenience, perceived safety for the passenger and comprehensibility for…

One core challenge in the development of automated vehicles is their capability to deal with a multitude of complex trafficscenarios with many, hard to predict traffic participants. As part of the iterative development process, it is…

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…

Generating high-fidelity, controllable, and annotated training data is critical for autonomous driving. Existing methods typically generate a single data form directly from a coarse scene layout, which not only fails to output rich data…

This paper presents a learning from demonstration approach to programming safe, autonomous behaviors for uncommon driving scenarios. Simulation is used to re-create a targeted driving situation, one containing a road-side hazard creating a…

Safety-critical scenario generation is crucial for evaluating autonomous driving systems. However, existing approaches often struggle to balance three conflicting objectives: adversarial criticality, physical feasibility, and behavioral…

Achieving fully autonomous driving systems requires learning rational decisions in a wide span of scenarios, including safety-critical and out-of-distribution ones. However, such cases are underrepresented in real-world corpus collected by…

Simulation is an indispensable tool in the development and testing of autonomous vehicles (AVs), offering an efficient and safe alternative to road testing. An outstanding challenge with simulation-based testing is the generation of…

Ensuring the safety of autonomous vehicles requires virtual scenario-based testing, which depends on the robust evaluation and generation of safety-critical scenarios. So far, researchers have used scenario-based testing frameworks that…

Motion planning in environments with multiple agents is critical to many important autonomous applications such as autonomous vehicles and assistive robots. This paper considers the problem of motion planning, where the controlled agent…

Motion planning is a fundamental problem in autonomous driving and perhaps the most challenging to comprehensively evaluate because of the associated risks and expenses of real-world deployment. Therefore, simulations play an important role…

Real-world autonomous driving, particularly in urban environments with numerous corner cases, requires rigorous testing to ensure product safety and robustness. However, few studies have explored integrating adversarial scenario generation…

Autonomous vehicles have the potential to lower the accident rate when compared to human driving. Moreover, it is the driving force of the automated vehicles' rapid development over the last few years. In the higher Society of Automotive…

Autonomous mobile agents often operate in hazardous environments, necessitating an awareness of safety. These agents can have non-linear, stochastic dynamics that must be considered during planning to guarantee bounded risk. Most state of…