相关论文: Long-term Traffic Simulation with Interleaved Auto…

Diverse and realistic traffic scenarios are crucial for evaluating the AI safety of autonomous driving systems in simulation. This work introduces a data-driven method called TrafficGen for traffic scenario generation. It learns from the…

We consider the problem of generating realistic traffic scenes automatically. Existing methods typically insert actors into the scene according to a set of hand-crafted heuristics and are limited in their ability to model the true…

This paper introduces UniGen, a novel approach to generating new traffic scenarios for evaluating and improving autonomous driving software through simulation. Our approach models all driving scenario elements in a unified model: the…

Simulation forms the backbone of modern self-driving development. Simulators help develop, test, and improve driving systems without putting humans, vehicles, or their environment at risk. However, simulators face a major challenge: They…

Microscopic traffic simulation has become an important tool for autonomous driving training and testing. Although recent data-driven approaches advance realistic behavior generation, their learning still relies primarily on a single…

Realistic and interactive traffic simulation is essential for training and evaluating autonomous driving systems. However, most existing data-driven simulation methods rely on static initialization or log-replay data, limiting their ability…

With the growing popularity of digital twin and autonomous driving in transportation, the demand for simulation systems capable of generating high-fidelity and reliable scenarios is increasing. Existing simulation systems suffer from a lack…

Realistic and diverse simulation scenarios with reactive and feasible agent behaviors can be used for validation and verification of self-driving system performance without relying on expensive and time-consuming real-world testing.…

Interactive traffic simulation is crucial to autonomous driving systems by enabling testing for planners in a more scalable and safe way compared to real-world road testing. Existing approaches learn an agent model from large-scale driving…

Traffic simulators are widely used to study the operational efficiency of road infrastructure, but their rule-based approach limits their ability to mimic real-world driving behavior. Traffic intersections are critical components of the…

Over the past few years there is a growing interest in the learning-based self driving system. To ensure safety, such systems are first developed and validated in simulators before being deployed in the real world. However, most of the…

Autonomous vehicles hold great promise in improving the future of transportation. The driving models used in these vehicles are based on neural networks, which can be difficult to validate. However, ensuring the safety of these models is…

A longstanding challenge for self-driving development is simulating dynamic driving scenarios seeded from recorded driving logs. In pursuit of this functionality, we apply tools from discrete sequence modeling to model how vehicles,…

As the foundation of closed-loop training and evaluation in autonomous driving, traffic simulation still faces two fundamental challenges: covariate shift introduced by open-loop imitation learning and limited capacity to reflect the…

Traffic simulation, complementing real-world data with a long-tail distribution, allows for effective evaluation and enhancement of the ability of autonomous vehicles to handle accident-prone scenarios. Simulating such safety-critical…

Motion prediction for intelligent vehicles typically focuses on estimating the most probable future evolutions of a traffic scenario. Estimating the gap acceptance, i.e., whether a vehicle merges or crosses before another vehicle with the…

In order to plan a safe maneuver an autonomous vehicle must accurately perceive its environment, and understand the interactions among traffic participants. In this paper, we aim to learn scene-consistent motion forecasts of complex urban…

The goal of traffic simulation is to augment a potentially limited amount of manually-driven miles that is available for testing and validation, with a much larger amount of simulated synthetic miles. The culmination of this vision would be…

Motion forecasting for agents in autonomous driving is highly challenging due to the numerous possibilities for each agent's next action and their complex interactions in space and time. In real applications, motion forecasting takes place…

Simulation has the potential to massively scale evaluation of self-driving systems enabling rapid development as well as safe deployment. To close the gap between simulation and the real world, we need to simulate realistic multi-agent…