相关论文: UniPlanner: A Unified Motion Planning Framework fo…

Motion simulation, prediction and planning are foundational tasks in autonomous driving, each essential for modeling and reasoning about dynamic traffic scenarios. While often addressed in isolation due to their differing objectives, such…

Motion planning is an essential element of the modular architecture of autonomous vehicles, serving as a bridge between upstream perception modules and downstream low-level control signals. Traditional motion planners were initially…

Modern autonomous driving system is characterized as modular tasks in sequential order, i.e., perception, prediction, and planning. In order to perform a wide diversity of tasks and achieve advanced-level intelligence, contemporary…

We address the decision-making capability within an end-to-end planning framework that focuses on motion prediction, decision-making, and trajectory planning. Specifically, we formulate decision-making and trajectory planning as a…

World models have become central to autonomous driving, where accurate scene understanding and future prediction are crucial for safe control. Recent work has explored using vision-language models (VLMs) for planning, yet existing…

Accurate trajectory prediction and motion planning are crucial for autonomous driving systems to navigate safely in complex, interactive environments characterized by multimodal uncertainties. However, current generation-then-evaluation…

End-to-end autonomous driving aims to generate safe and plausible planning policies from raw sensor input. Driving world models have shown great potential in learning rich representations by predicting the future evolution of a driving…

Decision-making, motion planning, and trajectory prediction are crucial in autonomous driving systems. By accurately forecasting the movements of other road users, the decision-making capabilities of the autonomous system can be enhanced,…

Modeling interactive driving behaviors in complex scenarios remains a fundamental challenge for autonomous driving planning. Learning-based approaches attempt to address this challenge with advanced generative models, removing the…

The motion planners used in self-driving vehicles need to generate trajectories that are safe, comfortable, and obey the traffic rules. This is usually achieved by two modules: behavior planner, which handles high-level decisions and…

Trajectory planning is vital for autonomous driving, ensuring safe and efficient navigation in complex environments. While recent learning-based methods, particularly reinforcement learning (RL), have shown promise in specific scenarios, RL…

Decision-making and planning in autonomous driving critically reflect the safety of the system, making effective planning imperative. Current imitation learning-based planning algorithms often merge historical trajectories with present…

This work presents a novel data-driven multi-layered planning and control framework for the safe navigation of a class of unmanned ground vehicles (UGVs) in the presence of unknown stationary obstacles and additive modeling uncertainties.…

A typical trajectory planner of autonomous driving commonly relies on predicting the future behavior of surrounding obstacles. Recently, deep learning technology has been widely adopted to design prediction models due to their impressive…

Generating overtaking trajectories in autonomous racing is a challenging task, as the trajectory must satisfy the vehicle's dynamics and ensure safety and real-time performance running on resource-constrained hardware. This work proposes…

Decision-making and motion planning constitute critical components for ensuring the safety and efficiency of autonomous vehicles (AVs). Existing methodologies typically adopt two paradigms: decision then planning or generation then scoring.…

Predicting the future states of surrounding traffic participants and planning a safe, smooth, and socially compliant trajectory accordingly is crucial for autonomous vehicles. There are two major issues with the current autonomous driving…

Motion Planning, as a fundamental technology of automatic navigation for the autonomous vehicle, is still an open challenging issue in the real-life traffic situation and is mostly applied by the model-based approaches. However, due to the…

Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…

Achieving human-like driving behaviors in complex open-world environments is a critical challenge in autonomous driving. Contemporary learning-based planning approaches such as imitation learning methods often struggle to balance competing…