相关论文: A Bounded Rational Driver Model

Constrained generative modeling is fundamental to applications such as robotic control and autonomous driving, where models must respect physical laws and safety-critical constraints. In real-world settings, these constraints rarely take…

Driver models are invaluable for planning in autonomous vehicles as well as validating their safety in simulation. Highly parameterized black-box driver models are very expressive, and can capture nuanced behavior. However, they usually…

Model-based approaches have become increasingly popular in the domain of automated driving. This includes runtime algorithms, such as Model Predictive Control, as well as formal and simulative approaches for the verification of automated…

This work presents a novel framework for the formation control of multiple autonomous ground vehicles in an on-road environment. Unique challenges of this problem lie in 1) the design of collision avoidance strategies with obstacles and…

Highly automated driving requires precise models of traffic participants. Many state of the art models are currently based on machine learning techniques. Among others, the required amount of labeled data is one major challenge. An…

This work proposes a nonlinear model predictive control-based guidance strategy for unmanned surface vehicles, focused on path following. The application of this strategy, in addition to overcome drawbacks of previous line-of-sight-based…

Self-driving cars face complex driving situations with a large amount of agents when moving in crowded cities. However, some of the agents are actually not influencing the behavior of the self-driving car. Filtering out unimportant agents…

We present an approach for safe trajectory planning, where a strategic task related to autonomous racing is learned sample-efficient within a simulation environment. A high-level policy, represented as a neural network, outputs a reward…

Short-term future of automated driving can be imagined as a hybrid scenario in which both automated and human-driven vehicles co-exist in the same environment. In order to address the needs of such road configuration, many technology…

It has been for a long time to use big data of autonomous vehicles for perception, prediction, planning, and control of driving. Naturally, it is increasingly questioned why not using this big data for risk management and actuarial…

This paper presents an adaptive high performance control method for autonomous miniature race cars. Racing dynamics are notoriously hard to model from first principles, which is addressed by means of a cautious nonlinear model predictive…

Autonomous cars can perform poorly for many reasons. They may have perception issues, incorrect dynamics models, be unaware of obscure rules of human traffic systems, or follow certain rules too conservatively. Regardless of the exact…

Autonomous vehicles have a great potential in the application of both civil and military fields, and have become the focus of research with the rapid development of science and economy. This article proposes a brief review on learning-based…

In this contribution, we introduce a general class of car-following models with an input-state-output port-Hamiltonian structure. We derive stability conditions and long-term behavior of the finite system with periodic boundaries and…

Recent investigations on the longitudinal and lateral control of wheeled autonomous vehicles are reported. Flatness-based techniques are first introduced via a simplified model. It depends on some physical parameters, like cornering…

Ecodriving guidance includes courses or suggestions for human drivers to improve driving behaviour, reducing energy use and emissions. This paper presents a systematic review of existing eco-driving guidance studies and identifies…

Human-involved interactive environments pose significant challenges for autonomous vehicle decision-making processes due to the complexity and uncertainty of human behavior. It is crucial to develop an explainable and trustworthy…

Despite large advances in recent years, real-time capable motion planning for autonomous road vehicles remains a huge challenge. In this work, we present a decision module that is based on set-based reachability analysis: First, we identify…

Modeling the decision-making behavior of vehicles presents unique challenges, particularly during unprotected left turns at intersections, where the uncertainty of human drivers is especially pronounced. In this context, connected…

In this work we aim to bridge the divide between autonomous vehicles and causal reasoning. Autonomous vehicles have come to increasingly interact with human drivers, and in many cases may pose risks to the physical or mental well-being of…