相关论文: Dynamically Local-Enhancement Planner for Large-Sc…

This paper introduces a method, based on deep reinforcement learning, for automatically generating a general purpose decision making function. A Deep Q-Network agent was trained in a simulated environment to handle speed and lane change…

Tactical decision making and strategic motion planning for autonomous highway driving are challenging due to the complication of predicting other road users' behaviors, diversity of environments, and complexity of the traffic interactions.…

Lane change decision-making for autonomous vehicles is a complex but high-reward behavior. In this paper, we propose a hybrid input based deep reinforcement learning (DRL) algorithm, which realizes abstract lane change decisions and lane…

We present a navigation system that combines ideas from hierarchical planning and machine learning. The system uses a traditional global planner to compute optimal paths towards a goal, and a deep local trajectory planner and velocity…

This paper presents a Predictive Maneuver Planning with Deep Reinforcement Learning (PMP-DRL) model for maneuver planning. Traditional rule-based maneuver planning approaches often have to improve their abilities to handle the variabilities…

We study a dynamic traffic assignment model, where agents base their instantaneous routing decisions on real-time delay predictions. We formulate a mathematically concise model and define dynamic prediction equilibrium (DPE) in which no…

Reinforcement learning algorithms require a large amount of samples; this often limits their real-world applications on even simple tasks. Such a challenge is more outstanding in multi-agent tasks, as each step of operation is more costly…

Offline estimation of the dynamical model of a Markov Decision Process (MDP) is a non-trivial task that greatly depends on the data available in the learning phase. Sometimes the dynamics of the model is invariant with respect to some…

Lane detection is an essential part of the perception sub-architecture of any automated driving (AD) or advanced driver assistance system (ADAS). When focusing on low-cost, large scale products for automated driving, model-driven approaches…

The behavior decision-making subsystem is a key component of the autonomous driving system, which reflects the decision-making ability of the vehicle and the driver, and is an important symbol of the high-level intelligence of the vehicle.…

Traditional traffic optimization solutions assume that the graph structure of road networks is static, missing opportunities for further traffic flow optimization. We are interested in optimizing traffic flows as a new type of graph-based…

Autonomous robot navigation systems often rely on hierarchical planning, where global planners compute collision-free paths without considering dynamics, and local planners enforce dynamics constraints to produce executable commands. This…

As the number of Persons with Disabilities (PWD), particularly those with one or more physical impairments, increases, there is an increasing demand for assistive robotic technologies that can support independent mobility in the built…

With increased travelling needs more than ever, traffic congestion has become a major concern in most urban areas. Allocating spaces for on-street parking, further hinders traffic flow, by limiting the effective road width available for…

Deep learning architectures with powerful reasoning capabilities have driven significant advancements in autonomous driving technology. Large language models (LLMs) applied in this field can describe driving scenes and behaviors with a…

Among sub-optimal Multi-Agent Path Finding (MAPF) solvers, rule-based algorithms are particularly appealing since they are complete. Even in crowded scenarios, they allow finding a feasible solution that brings each agent to its target,…

Although Deep Reinforcement Learning (DRL) and Large Language Models (LLMs) each show promise in addressing decision-making challenges in autonomous driving, DRL often suffers from high sample complexity, while LLMs have difficulty ensuring…

Diffusion models have demonstrated strong capabilities for modeling human-like driving behaviors in autonomous driving, but their iterative sampling process induces substantial latency, and operating directly on raw trajectory points forces…

In dense and dynamic scenarios, planning a safe and comfortable trajectory is full of challenges when traffic participants are driving at high speed. The classic graph search and sampling methods first perform path planning and then…

In order to solve the problem of frequent deceleration of unmanned vehicles when approaching obstacles, this article uses a Deep Q-Network (DQN) and its extension, the Double Deep Q-Network (DDQN), to develop a local navigation system that…