相关论文: SafeCast: Risk-Responsive Motion Forecasting for A…

Motion planning is a complicated task that requires the combination of perception, map information integration and prediction, particularly when driving in heavy traffic. Developing an extensible and efficient representation that visualizes…

Autonomous driving decision-making at unsignalized intersections is highly challenging due to complex dynamic interactions and high conflict risks. To achieve proactive safety control, this paper proposes a deep reinforcement learning (DRL)…

Path planning for autonomous vehicles in arbitrary environments requires a guarantee of safety, but this can be impractical to ensure in real-time when the vehicle is described with a high-fidelity model. To address this problem, this paper…

3D reconstruction and novel view synthesis are critical for validating autonomous driving systems and training advanced perception models. Recent self-supervised methods have gained significant attention due to their cost-effectiveness and…

Applying reinforcement learning to autonomous driving entails particular challenges, primarily due to dynamically changing traffic flows. To address such challenges, it is necessary to quickly determine response strategies to the changing…

Motion Prediction (MP) of multiple surroundings agents is a crucial task in arbitrarily complex environments, from simple robots to Autonomous Driving Stacks (ADS). Current techniques tackle this problem using end-to-end pipelines, where…

Occlusion-aware prediction remains a critical challenge in autonomous driving due to the inherent uncertainty of unobserved regions. Existing approaches either overestimate risk based on reachable states or struggle to predict accurate…

Balancing safety and efficiency when planning in dense traffic is challenging. Interactive behavior planners incorporate prediction uncertainty and interactivity inherent to these traffic situations. Yet, their use of single-objective…

Safe autonomous driving in mixed traffic requires a unified understanding of multimodal interactions and dynamic planning under uncertainty. Existing learning based approaches struggle to capture rare but safety critical behaviors, while…

Fast and safe navigation of dynamical systems through a priori unknown cluttered environments is vital to many applications of autonomous systems. However, trajectory planning for autonomous systems is computationally intensive, often…

We consider the problem of intelligently navigating through complex traffic. Urban situations are defined by the underlying map structure and special regulatory objects of e.g. a stop line or crosswalk. Thereon dynamic vehicles (cars,…

Safety-critical perception systems require both reliable uncertainty quantification and principled abstention mechanisms to maintain safety under diverse operational conditions. We present a novel dual-threshold conformalization framework…

One of the major impediments in deployment of Autonomous Driving Systems (ADS) is their safety and reliability. The primary reason for the complexity of testing ADS is that it operates in an open world characterized by its…

Control Area Network (CAN) is an essential communication protocol that interacts between Electronic Control Units (ECUs) in the vehicular network. However, CAN is facing stringent security challenges due to innate security risks. Intrusion…

Safety-critical traffic scenarios are of great practical relevance to evaluating the robustness of autonomous driving (AD) systems. Given that these long-tail events are extremely rare in real-world traffic data, there is a growing body of…

The Intelligent Driver Model (IDM) is a cornerstone of Adaptive Cruise Control (ACC), valued for its interpretable parameters and effectiveness in car-following behavior modeling. However, its inherent conservatism leads to prolonged…

Traffic forecasting is crucial for transportation systems optimisation. Current models minimise the mean forecasting errors, often favouring periodic events prevalent in the training data, while overlooking critical aperiodic ones like…

Traffic accident anticipation aims to predict accidents from dashcam videos as early as possible, which is critical to safety-guaranteed self-driving systems. With cluttered traffic scenes and limited visual cues, it is of great challenge…

Simulation systems have become an essential component in the development and validation of autonomous driving technologies. The prevailing state-of-the-art approach for simulation is to use game engines or high-fidelity computer graphics…

Generating safety-critical scenarios is essential for validating the robustness of autonomous driving systems, yet existing methods often struggle to produce collisions that are both realistic and diverse while ensuring explicit interaction…