相关论文: Echo Planning for Autonomous Driving: From Current…

Driver assistance systems support drivers in operating vehicles in a safe, comfortable and efficient way, and thus may induce changes in traffic flow characteristics. This paper puts forward a receding horizon control framework to model…

Trajectory prediction is an essential step in the pipeline of an autonomous vehicle. Inaccurate or inconsistent predictions regarding the movement of agents in its surroundings lead to poorly planned maneuvers and potentially dangerous…

Recently, deep-learning based approaches have achieved impressive performance for autonomous driving. However, end-to-end vision-based methods typically have limited interpretability, making the behaviors of the deep networks difficult to…

Accurate trajectory prediction has long been a major challenge for autonomous driving (AD). Traditional data-driven models predominantly rely on statistical correlations, often overlooking the causal relationships that govern traffic…

Motion prediction of surrounding vehicles is one of the most important tasks handled by a self-driving vehicle, and represents a critical step in the autonomous system necessary to ensure safety for all the involved traffic actors. Recently…

Benchmarking autonomous driving planners to align with human judgment remains a critical challenge, as state-of-the-art metrics like the Extended Predictive Driver Model Score (EPDMS) lack context awareness in nuanced scenarios. To address…

This paper introduces a novel framework for continuous 3D trajectory optimization in cluttered environments, leveraging online neural Euclidean Signed Distance Fields (ESDFs). Unlike prior approaches that rely on discretized ESDF grids with…

The advent of end-to-end autonomy stacks - often lacking interpretable intermediate modules - has placed an increased burden on ensuring that the final output, i.e., the motion plan, is safe in order to validate the safety of the entire…

Human trajectory forecasting is crucial in applications such as autonomous driving, robotics and surveillance. Accurate forecasting requires models to consider various factors, including social interactions, multi-modal predictions,…

Trajectory planning and control have historically been separated into two modules in automated driving stacks. Trajectory planning focuses on higher-level tasks like avoiding obstacles and staying on the road surface, whereas the controller…

This paper presents the design of an ecological adaptive cruise controller (ECO-ACC) for a plug-in hybrid vehicle (PHEV) which exploits automated driving and connectivity. Most existing papers for ECO-ACC focus on a short-sighted control…

The future instance prediction from a Bird's Eye View(BEV) perspective is a vital component in autonomous driving, which involves future instance segmentation and instance motion prediction. Existing methods usually rely on a redundant and…

Accurately predicting the trajectory of vehicles is critically important for ensuring safety and reliability in autonomous driving. Although considerable research efforts have been made recently, the inherent trajectory uncertainty caused…

Modern automated driving solutions utilize trajectory planning and control components with numerous parameters that need to be tuned for different driving situations and vehicle types to achieve optimal performance. This paper proposes a…

Autonomous driving has long grappled with the need for precise absolute localization, making full autonomy elusive and raising the capital entry barriers for startups. This study delves into the feasibility of local trajectory planning for…

Modular design of planning-oriented autonomous driving has markedly advanced end-to-end systems. However, existing architectures remain constrained by an over-reliance on ego status, hindering generalization and robust scene understanding.…

In recent years, end-to-end autonomous driving has attracted increasing attention for its ability to jointly model perception, prediction, and planning within a unified framework. However, most existing approaches underutilize the online…

Accurate vehicle trajectory prediction is essential for ensuring safety and efficiency in fully autonomous driving systems. While existing methods primarily focus on modeling observed motion patterns and interactions with other vehicles,…

Lane segment topology reasoning provides comprehensive bird's-eye view (BEV) road scene understanding, which can serve as a key perception module in planning-oriented end-to-end autonomous driving systems. Existing lane topology reasoning…

Efficient behavior and trajectory planning is one of the major challenges for automated driving. Especially intersection scenarios are very demanding due to their complexity arising from the variety of maneuver possibilities and other…