Current testing scenarios typically employ predefined or scripted BVs, which inadequately reflect the complexity of human-like social behaviors in real-world driving scenarios, and also lack a systematic metric for evaluating the comprehensive intelligence of AVs.
Our work is divided into 3 independent articles and the first part is a Survey of Surveys (SoS) for total technologies of AD and IVs that involves the history, summarizes the milestones, and provides the perspectives, ethics, and future research directions.
no code implementations • 30 Mar 2023 • Long Chen, Yuchen Li, Chao Huang, Bai Li, Yang Xing, Daxin Tian, Li Li, Zhongxu Hu, Xiaoxiang Na, Zixuan Li, Siyu Teng, Chen Lv, Jinjun Wang, Dongpu Cao, Nanning Zheng, Fei-Yue Wang
Interest in autonomous driving (AD) and intelligent vehicles (IVs) is growing at a rapid pace due to the convenience, safety, and economic benefits.
The results indicate that the deep ensemble-based method has advantages in improving prediction robustness and estimating epistemic uncertainty.
Despite some successful applications of goal-driven navigation, existing deep reinforcement learning (DRL)-based approaches notoriously suffers from poor data efficiency issue.
A comprehensive simulation is conducted to statistically verify the positive impacts of CAV on the holistic energy efficiency of the mixed traffic flow with uncertain and diverse human driving behaviors.
Then, the behaviors of traffic light violations in SIND are recorded.
Decision-making for urban autonomous driving is challenging due to the stochastic nature of interactive traffic participants and the complexity of road structures.
Therefore, this paper proposes a novel Multi-modal Hierarchical Transformer network that fuses the vectorized (agent motion) and visual (scene flow, map, and occupancy) modalities and jointly predicts the flow and occupancy of the scene.
Decisions made by human subjects in a driving simulator are treated as safe demonstrations, which are stored into the replay buffer and then utilized to enhance the training process of RL.
We theoretically prove that the policy improvement theorem holds for the preference-guided $\epsilon$-greedy policy and experimentally show that the inferred action preference distribution aligns with the landscape of corresponding Q-values.
Currently, most single image dehazing models cannot run an ultra-high-resolution (UHD) image with a single GPU shader in real-time.
Simultaneous trajectory prediction for multiple heterogeneous traffic participants is essential for safe and efficient operation of connected automated vehicles under complex driving situations.
To further advance the lateral stabilization performance of the IMDV, in this paper a novel data-driven nonlinear model predictive control (NMPC) is proposed based the recurrent high-order neural network (RHONN) modelling method.
To realize human-like driving and personalized decision-making, driving aggressiveness is first defined for AVs.
To address the coordination issue of connected automated vehicles (CAVs) at urban scenarios, a game-theoretic decision-making framework is proposed that can advance social benefits, including the traffic system efficiency and safety, as well as the benefits of individual users.
A novel prioritized experience replay mechanism that adapts to human guidance in the reinforcement learning process is proposed to boost the efficiency and performance of the reinforcement learning algorithm.
In this manuscript, we propose a novel attack detection scheme that leverage real-time sensor/network data and physics-based mathematical models of vehicles in the platoon.
Then, a novel uncertainty-aware model-based RL framework is developed based on the adaptive truncation approach, providing virtual interactions between the agent and environment model, and improving RL's training efficiency and performance.
The idea is to transmit acceleration commands multiple times through different communication networks (channels) to create redundancy at the receiver side.
To handle the error of the head pose estimation model, this paper proposes an adaptive Kalman Filter.
To improve the safety and efficiency of the intelligent transportation system, particularly in complex urban scenarios, in this paper a game theoretic decision-making framework is designed for connected automated vehicles (CAVs) at unsignalized roundabouts considering their personalized driving behaviours.
This paper proposes a novel Bernoulli heatmap for head pose estimation from a single RGB image.