RL agent learns to smoothly change lanes in a dynamic driving environment.
problem Challenging lane change control with safety and comfort.
method Formulated continuous action for lane change in DDPG algorithm, defined reward function for learning.
result Successfully changed lanes with 100% success rate in diverse driving situations.
We apply Deep Q-network (DQN) with the consideration of safety during the task for deciding whether to conduct the maneuver. Furthermore, we design two similar Deep Q learning frameworks with quadratic approximator for deciding how to select a comfortable gap and just follow the preceding vehicle. Finally, a polynomial…
Deep RL agent improves lane changing in unpredictable traffic.
problem Uncertainty in other drivers' behaviors and safety vs agility trade-off.
method Developed a deep reinforcement learning agent in a simulated highway environment.
result Significantly better performance in noisy environments compared to heuristic methods.
Paper proposes a statistical approach for predicting lane changes in highway scenarios.
problem Early recognition of lane changes for automated driving.
method Prototype trajectories generated from real data using Agglomerative Hierarchical Clustering. Maneuver prediction via Boosted Decision Trees and mixture model.
result Improved performance for lane change and trajectory prediction compared to a reference approach.
This paper compares machine learning methods for recognizing lane change intentions from vehicle trajectories.
problem Accurately detecting and predicting lane change processes in autonomous vehicles.
method Comparison of different machine learning methods on high-dimensional time series data.
result Ensemble methods reduce Type II and Type III classification errors, while LightGBM outperforms XGBoost in training efficiency.
Long-term lane change prediction model predicts maneuvers with 75% accuracy.
problem Predicting long-term lane changes for safer autonomous driving.
method Introduced three models: logistic regression, MLP, and RNN. Used NGSIM dataset with new labeling scheme.
result Developed model predicts 75% of lane changes with an average advanced time of 8.05 seconds.
A new model captures car-following and lane-changing behaviors in traffic.
problem Modeling stochastic microscopic traffic behaviors.
method Physics regularized Gaussian process (PRGP) approach.
result The proposed model outperforms previous methods in estimation precision.
Autonomous driving decision-making is a great challenge due to the complexity and uncertainty of the traffic environment. Combined with the rule-based constraints, a Deep Q-Network (DQN) based method is applied for autonomous driving lane change decision-making task in this study. Through the combination of high-level …
Deep neural networks can be powerful tools, but require careful application-specific design to ensure that the most informative relationships in the data are learnable. In this paper, we apply deep neural networks to the nonlinear spatiotemporal physics problem of vehicle traffic dynamics. We consider problems of estim…
Machine learning models predict crash rates on narrow lanes.
problem Impact of narrow lanes on arterial road vehicle crashes.
method Applied random forest and least squares boosting machine learning algorithms to crash data.
result Random forest model identified as best for studying narrow lanes' safety impact.
Intelligent motion planning is one of the core components in automated vehicles, which has received extensive interests. Traditional motion planning methods suffer from several drawbacks in terms of optimality, efficiency and generalization capability. Sampling based methods cannot guarantee the optimality of the gener…
We derive a monotonicity formula and classify finite Morse index solutions (positive or sign-changing, radial or not) to the following triharmonic Lane-Emden equation: \begin{equation}\nonumber (-Δ)^3 u=|u|^{p-1}u \hbox{ in } \mathbb{R}^n, \end{equation} where p is below the Joseph-Lundgren exponent. As a byproduct w…
Adaptive framework generates challenging adversarial scenarios for autonomous vehicles.
problem Lack of efficient and adaptable evaluation methods for autonomous vehicles.
method Adaptive evaluation framework using ensemble models and nonparametric Bayesian clustering.
result Adversarial scenarios significantly degrade tested autonomous vehicles' performance.
This research predicts vehicle movements by analyzing their intentions relative to road lanes.
problem Accurately forecasting vehicles' future movements for safe autonomous driving.
method LSTM networks with attention mechanisms applied to spatio-temporal graphs of road lanes.
result The model outperforms other state-of-the-art models in several metrics.
Deep RL for dynamic pricing of express lanes considers multiple origins, destinations, and access locations.
problem Dynamic pricing of express lanes with multiple access points and traveler heterogeneity.
method Formulated as a POMDP, uses policy gradient methods and neural networks to determine stochastic tolls.
result Deep RL outperforms traditional methods in maximizing revenue and minimizing travel time.
Backdoor attacks on DRL-based traffic controllers cause stop-and-go waves or crashes.
problem Vulnerability of DRL-based traffic controllers to machine learning attacks.
method Developed a trigger design methodology based on traffic physics principles.
result Backdoored models can cause stop-and-go traffic waves or AV crashes when triggered.
Paper discovers manoeuvres from vehicle telematics data.
problem Analyzing driving behaviour from vehicle data.
method Used motif detection in time-series with a modified EMD algorithm.
result Validated motif discovery for complex manoeuvres.
A hybrid model combines Q-learning and PID controller for continuous vehicle control.
problem Learning unsatisfactory results with discrete action space in autonomous driving.
method Combining Q-learning and PID controller, using Quadratic Q-function approximation and action network.
result Autonomous vehicle successfully learns smooth and efficient driving behavior.
Paper presents a self-supervised method to infer road lane networks.
problem Difficult and costly to create lane maps for autonomous vehicles.
method Self-supervised learning using neural and search-based model.
result Model can generalize to new road layouts, unlike previous approaches.
Deep RL mimics human driving for collision avoidance in self-driving cars.
problem Developing human-like driving policies for autonomous vehicles in mixed traffic environments.
method Model-free, deep reinforcement learning approach using a combination of rule-based and expert-driven data.
result Demonstrated human-like driving policies through Gaussian process modeling of track position and speed distributions.
IG-RL learns adaptive traffic signals for any network, outperforming existing methods.
problem Adaptive traffic signal control for large networks with combinatorial state and action spaces.
method Graph-Convolutional Networks for decentralized, flexible control.
result IG-RL generalizes to new networks and traffic conditions without additional training.
Semantic segmentation maps can be used as input to models for maneuvering the controls of a car. However, not all labels may be necessary for making the control decision. One would expect that certain labels such as road lanes or sidewalks would be more critical in comparison with labels for vegetation or buildings whi…
Detecting the intention of drivers is an essential task in self-driving, necessary to anticipate sudden events like lane changes and stops. Turn signals and emergency flashers communicate such intentions, providing seconds of potentially critical reaction time. In this paper, we propose to detect these signals in video…
This paper improves anomaly detection in lane rendering images for safer navigation.
problem Anomalies in lane rendering images can mislead drivers, posing safety risks.
method Proposes a four-phase pipeline using Transformer models, self-supervised pre-training, and fine-tuning.
result The pipeline enhances detection accuracy and reduces training time.
SECRM-2D improves RL-based autonomous driving with safety guarantees.
problem Safety and efficiency trade-offs in RL-based autonomous driving.
method RL-based controller with safety constraints for efficient and comfortable driving.
result SECRM-2D avoids crashes and improves efficiency and comfort compared to baselines.
Traffic speed prediction is a critically important component of intelligent transportation systems (ITS). Recently, with the rapid development of deep learning and transportation data science, a growing body of new traffic speed prediction models have been designed, which achieved high accuracy and large-scale predicti…
Study on radial solutions of Lane-Emden system on Cartan-Hadamard manifolds.
problem Existence and qualitative properties of radial solutions on Cartan-Hadamard manifolds.
method Analytical and asymptotic analysis of radial solutions, focusing on critical and supercritical exponents.
result Existence of one-parameter family of radial solutions for critical or supercritical exponents, with different dimensions of existence regions based on stochastic completeness.
A variety of cooperative multi-agent control problems require agents to achieve individual goals while contributing to collective success. This multi-goal multi-agent setting poses difficulties for recent algorithms, which primarily target settings with a single global reward, due to two new challenges: efficient explo…
Study on Lane-Emden equation on curved spaces, revealing new existence and non-existence phenomena.
problem Existence and non-existence of positive solutions for the Lane-Emden equation on Riemannian models.
method Analysis of the subcritical Lane-Emden equation on various Riemannian manifolds with polynomial volume growth.
result Subcritical regime divides into three ranges with distinct existence and non-existence phenomena.
Mixed RL improves RL efficiency with dual representations.
problem Poor sampling efficiency in RL methods.
method Uses dual representations of environmental dynamics to search optimal policies.
result Proves convergence and recursive stability of the mixed RL.
Variable speed limits (VSL) control is a flexible way to improve traffic condition,increase safety and reduce emission. There is an emerging trend of using reinforcement learning technique for VSL control and recent studies have shown promising results. Currently, deep learning is enabling reinforcement learning to dev…
Accurate and robust tracking of surrounding road participants plays an important role in autonomous driving. However, there is usually no prior knowledge of the number of tracking targets due to object emergence, object disappearance and false alarms. To overcome this challenge, we propose a generic vehicle tracking fr…
New algorithms speed up inverse reinforcement learning by solving MDPs once.
problem Slow convergence in Maximum Entropy Inverse Reinforcement Learning.
method Deep Inverse Q-learning with constraints exploiting Q-learning.
result Up to several orders of magnitude speedup compared to existing methods.
Asymmetry PRISM outperforms CPU and GPU solvers for institutional rebalancing.
problem Institutional rebalancing with deadline constraints
method Asymmetry PRISM
result Asymmetry PRISM-CPU is 4.5x to 24.1x faster than the fastest completed reference row in the same lane.
We study existence, uniqueness and stability of radial solutions of the Lane-Emden-Fowler equation −Δgu=∣u∣p−1u in a class of Riemannian models (M,g) of dimension n≥3 which includes the classical hyperbolic space Hn as well as manifolds with sectional curvatures unbounded below. Sign properties…
The paper teaches robots to navigate by learning costs from expert demonstrations.
problem Teaching robots to navigate autonomously using only expert observations.
method Developed a map encoder and cost encoder to infer semantic class probabilities and a cost function from expert observations.
result Robots can learn to follow traffic rules in a simulator using only semantic observations.
Proposes a new model for predicting future motion of road actors in autonomous vehicles.
problem Forecasting the long-term future motion of road actors for safe autonomous driving.
method Recurrent graph-based attentional approach with interpretable geometric and social relationships.
result Can produce diverse predictions conditioned on hypothetical or 'what-if' scenarios.
We demonstrate the first application of deep reinforcement learning to autonomous driving. From randomly initialised parameters, our model is able to learn a policy for lane following in a handful of training episodes using a single monocular image as input. We provide a general and easy to obtain reward: the distance …
This work improves deep reinforcement learning robustness to adversarial state uncertainty.
problem Robustness of deep reinforcement learning to adversarial state uncertainty.
method Certified adversarial robustness techniques are applied to deep reinforcement learning algorithms to compute guaranteed lower bounds on state-action values.
result The approach increases robustness to noise and adversaries in pedestrian collision avoidance and classic control tasks.
Novel RL method handles urban driving tasks including traffic lights.
problem Difficulties in reinforcement learning for complex urban driving tasks.
method Implicit affordances for model-free RL.
result Successfully handles urban driving tasks including traffic lights.
This study identifies RwD crash patterns on rural two-lane highways under different lighting conditions.
problem Insufficient investigation of RwD crashes under varying lighting conditions.
method Data mining using association rules mining (ARM) on crash database.
result Interesting crash patterns and risk factors identified under different lighting conditions.
The paper shows non-aspherical path components in G2-moduli spaces.
problem Characterizing non-aspherical path components in G2-moduli spaces.
method Using generalised Kummer construction and resolving singularities with Eguchi-Hanson spaces, the authors establish a fibration over each path component with Eilenberg Mac Lane spaces as fibres.
result The comparison map is a fibration over each path component with Eilenberg Mac Lane spaces as fibres, indicating non-trivial families of G2-manifolds.
This paper surveys DRL for autonomous vehicle motion planning.
problem Designing intelligent motion planning for autonomous vehicles.
method Deep Reinforcement Learning (DRL) for hierarchical motion planning.
result Survey of state-of-the-art DRL solutions for autonomous vehicle motion planning.
Let X be a subcomplex of the standard CW-decomposition of the n-dimensional torus. We exhibit an explicit optimal motion planning algorithm for X. This construction is used to calculate the topological complexity of complements of general position arrangements and Eilenberg-Mac Lane spaces associated to right-angled Ar…
This work trains a model to predict human driving directions from road scenes.
problem Defining implicit rules of human behavior for autonomous vehicles.
method Self-supervised learning of probabilistic network model.
result Model successfully generalizes to new road scenes.
New method predicts vehicle trajectories using map lane centers.
problem Accurate long-term vehicle trajectory prediction.
method Uses map lane centers to generate goal paths and predict trajectories.
result Model outperforms state-of-the-art approaches for 6-second horizon predictions.
This paper solves a Bayes sequential impulse control problem for a diffusion, whose drift has an unobservable parameter with a change point. The partially-observed problem is reformulated into one with full observations, via a change of probability measure which removes the drift. The optimal impulse controls can be ex…
In a remark in his seminal 1987 paper, Jones describes a way to define the Burau matrix of a positive braid using a metaphor of bowling a ball down a bowling alley with braided lanes. We extend this definition to allow multiple bowling balls to be bowled simultaneously. We obtain the Iwahori-Hecke algebra and a cabled …