相关论文: LMFormer: Lane based Motion Prediction Transformer

Predicting the possible future trajectories of the surrounding dynamic agents is an essential requirement in autonomous driving. These trajectories mainly depend on the surrounding static environment, as well as the past movements of those…

Trajectory prediction is crucial for autonomous vehicles. The planning system not only needs to know the current state of the surrounding objects but also their possible states in the future. As for vehicles, their trajectories are…

Predicting the future behavior of agents is a fundamental task in autonomous vehicle domains. Accurate prediction relies on comprehending the surrounding map, which significantly regularizes agent behaviors. However, existing methods have…

Accurate motion forecasting is critical for safe and efficient autonomous driving, enabling vehicles to predict future trajectories and make informed decisions in complex traffic scenarios. Most of the current designs of motion prediction…

Trajectory prediction and behavioral decision-making are two important tasks for autonomous vehicles that require good understanding of the environmental context; behavioral decisions are better made by referring to the outputs of…

Driver intention prediction seeks to anticipate drivers' actions by analyzing their behaviors with respect to surrounding traffic environments. Existing approaches primarily focus on late-fusion techniques, and neglect the importance of…

Decision-making for urban autonomous driving is challenging due to the stochastic nature of interactive traffic participants and the complexity of road structures. Although reinforcement learning (RL)-based decision-making scheme is…

Predicting the motion of a driver's vehicle is crucial for advanced driving systems, enabling detection of potential risks towards shared control between the driver and automation systems. In this paper, we propose a variational neural…

Predicting the behaviors of other agents on the road is critical for autonomous driving to ensure safety and efficiency. However, the challenging part is how to represent the social interactions between agents and output different possible…

Understanding trajectory diversity is a fundamental aspect of addressing practical traffic tasks. However, capturing the diversity of trajectories presents challenges, particularly with traditional machine learning and recurrent neural…

A Learning Model Predictive Controller (LMPC) is presented and tailored to platooning and Connected Autonomous Vehicles (CAVs) applications. The proposed controller builds on previous work on nonlinear LMPC, adapting its architecture and…

Predicting pedestrian motion trajectories is crucial for path planning and motion control of autonomous vehicles. Accurately forecasting crowd trajectories is challenging due to the uncertain nature of human motions in different…

It has been challenging to model the complex temporal-spatial dependencies between agents for trajectory prediction. As each state of an agent is closely related to the states of adjacent time steps, capturing the local temporal dependency…

Designing mechanical mechanisms to trace specific paths is a classic yet notoriously difficult engineering problem, characterized by a vast and complex search space of discrete topologies and continuous parameters. We introduce MechaFormer,…

Network traffic classification using pre-training models has shown promising results, but existing methods struggle to capture packet structural characteristics, flow-level behaviors, hierarchical protocol semantics, and inter-packet…

Mimicking human ability to forecast future positions or interpret complex interactions in urban scenarios, such as streets, shopping malls or squares, is essential to develop socially compliant robots or self-driving cars. Autonomous…

Vehicle route prediction is one of the significant tasks in vehicles mobility. It is one of the means to reduce the accidents and increase comfort in human life. The task of route prediction becomes simpler with the development of certain…

We present an integrated approach for perception and control for an autonomous vehicle and demonstrate this approach in a high-fidelity urban driving simulator. Our approach first builds a model for the environment, then trains a policy…

Predicting vehicle trajectories plays an important role in autonomous driving and ITS applications. Although multiple deep learning algorithms are devised to predict vehicle trajectories, their reliant on specific graph structure (e.g.,…

In this paper, we introduce a learning-based vision dynamics approach to nonlinear model predictive control for autonomous vehicles, coined LVD-NMPC. LVD-NMPC uses an a-priori process model and a learned vision dynamics model used to…