This review covers methods for autonomous driving including tracking, prediction, and decision making.
problem Improving autonomous driving through better tracking, prediction, and decision making.
method Approaches based on neural networks, stochastic techniques, and reinforcement learning are discussed.
result Effective methods for autonomous driving are identified and compared.
Deep learning and prior maps improve traffic light recognition for autonomous cars.
problem Recognizing traffic lights for autonomous cars in urban environments.
method Combining deep learning-based detection with prior maps for traffic light identification and state recognition.
result The proposed system correctly identified relevant traffic lights along predefined routes.
This paper explores formal verification for autonomous systems, identifying limitations and proposing improvements.
problem Ensuring safety of autonomous systems like self-driving cars and drones.
method Formal verification techniques based on formal methods, analyzing three assumptions and their limitations.
result Preliminary work to improve the strength of evidence provided by formal verification.
This study proposes a framework for human-like autonomous car-following planning based on deep reinforcement learning (deep RL). Historical driving data are fed into a simulation environment where an RL agent learns from trial and error interactions based on a reward function that signals how much the agent deviates fr…
Proposes novel method for detecting novel scenarios in autonomous systems.
problem Detecting when a machine learning model makes a trustworthy prediction in dynamic, real-world situations.
method Leverages trained model's learned information and a new image similarity metric.
result Demonstrates the method's efficacy on real-world driving and indoor racing datasets.
Reinforcement learning is considered to be a strong AI paradigm which can be used to teach machines through interaction with the environment and learning from their mistakes. Despite its perceived utility, it has not yet been successfully applied in automotive applications. Motivated by the successful demonstrations of…
In recent years, car makers and tech companies have been racing towards self driving cars. It seems that the main parameter in this race is who will have the first car on the road. The goal of this paper is to add to the equation two additional crucial parameters. The first is standardization of safety assurance --- wh…
A model used for velocity control during car following was proposed based on deep reinforcement learning (RL). To fulfil the multi-objectives of car following, a reward function reflecting driving safety, efficiency, and comfort was constructed. With the reward function, the RL agent learns to control vehicle speed in …
The paper explores new risk models for autonomous driving.
problem Risk management and actuarial modeling for autonomous vehicles.
method Examines technical difficulties and proposes a novel risk model.
result The new model better reflects real-world driving safety.
Efficiently detects failures in autonomous systems using adaptive stress testing.
problem Identifying likely failure scenarios in autonomous systems.
method Employed a recurrent neural network to simulate initial conditions and detect failures.
result Solver can now find solutions for previously intractable problems.
Reinforcement learning is considered to be a strong AI paradigm which can be used to teach machines through interaction with the environment and learning from their mistakes, but it has not yet been successfully used for automotive applications. There has recently been a revival of interest in the topic, however, drive…
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…
FunCLBM clusters time series data for autonomous driving validation.
problem Validation of autonomous driving systems using large amounts of data.
method FunCLBM model for co-clustering high-dimensional time series data.
result FunCLBM provides structured partition and clustering views of datasets.
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.
DeepRacing uses neural networks to predict trajectories for autonomous racing in video games.
problem Training algorithms for high-speed autonomous racing in realistic environments.
method Developed a virtual testbed using F1 video games, trained neural networks to predict trajectories and control commands.
result Trajectory prediction outperforms end-to-end control methods in autonomous racing simulations.
Future autonomous systems need reliable world models and complex action sequences.
problem Current automated systems lack reliable world models and complex action sequences.
method Introduce energy-based and latent variable models combined in a hierarchical joint embedding predictive architecture (H-JEPA).
result Combining energy-based and latent variable models in H-JEPA can lead to reliable world models and complex action sequences.
Nowadays autonomous technologies are a very heavily explored area and particularly computer vision as the main component of vehicle perception. The quality of the whole vision system based on neural networks relies on the dataset it was trained on. It is extremely difficult to find traffic sign datasets from most of th…
Deep Reinforcement Learning (DRL) has become increasingly powerful in recent years, with notable achievements such as Deepmind's AlphaGo. It has been successfully deployed in commercial vehicles like Mobileye's path planning system. However, a vast majority of work on DRL is focused on toy examples in controlled synthe…
SELD-TCN improves sound event localization and detection efficiency.
problem Efficient sound event localization and detection on embedded hardware.
method Developed a novel temporal convolutional network (TCN) architecture.
result SELD-TCN outperforms state-of-the-art SELDnet on four datasets.
Model-free reinforcement learning has recently been shown to successfully learn navigation policies from raw sensor data. In this work, we address the problem of learning driving policies for an autonomous agent in a high-fidelity simulator. Building upon recent research that applies deep reinforcement learning to navi…
MIDAS learns to adaptively control other cars in urban driving scenarios.
problem Autonomous vehicles need to interact with other agents on the road.
method Reinforcement learning with attention mechanism to handle multiple agents.
result MIDAS policies are adaptive and robust to external changes.
This paper studies users' perception regarding a controversial product, namely self-driving (autonomous) cars. To find people's opinion regarding this new technology, we used an annotated Twitter dataset, and extracted the topics in positive and negative tweets using an unsupervised, probabilistic model known as topic …
Autonomous driving is getting a lot of attention in the last decade and will be the hot topic at least until the first successful certification of a car with Level 5 autonomy. There are many public datasets in the academic community. However, they are far away from what a robust industrial production system needs. Ther…
The paper evaluates Bayesian neural networks for safety in autonomous driving.
problem Safety guarantees for deep neural network controllers in autonomous driving.
method Developed a framework using a state-of-the-art simulator to evaluate Bayesian controllers.
result Bayesian inference methods can provide statistical guarantees for uncertainty computation in autonomous driving.
Adversarial objects can fool LiDAR-based autonomous driving systems.
problem Vulnerability of LiDAR-based autonomous driving systems to adversarial attacks.
method Optimization-based approach LiDAR-Adv to generate adversarial objects.
result LiDAR-based autonomous driving systems are vulnerable to adversarial attacks.
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.
End-to-end autonomous driving models are vulnerable to simple physical manipulations of images.
problem Vulnerability of end-to-end autonomous driving models to subtle adversarial manipulations of images.
method Developed novel end-to-end attacks using simple physical manipulations (painting black lines on the road) and used Bayesian Optimization to efficiently search for successful attacks.
result Simple physical manipulations can cause autonomous driving models to follow unintended paths, highlighting the vulnerability of these models.
Paper proposes methods to help autonomous vehicles adapt to unexpected driving scenarios.
problem Autonomous vehicles struggle with unexpected driving conditions.
method Robust imitative planning (RIP) and adaptive robust imitative planning (AdaRIP) methods to detect and adapt to distribution shifts.
result Methods outperform current state-of-the-art approaches in nuScenes prediction challenge.
Deep Sets improve reinforcement learning for autonomous driving with variable inputs.
problem Optimal decision making in autonomous driving with varying number of objects.
method Employed Deep Sets for high-level decision making in reinforcement learning.
result Deep Sets outperform other approaches in performance and generalization.
Adaptive vehicle trajectory prediction for safer autonomous driving.
problem Inability of current methods to guarantee physical feasibility and adapt to human driving policies.
method Bayesian recurrent neural network combining policy and physical models, with gradient-based training and parameter adaptation.
result The proposed method ensures physical feasibility and adaptability to human driving policies.
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.
Y-GAN uses multi-camera data to estimate depth maps without expensive hardware.
problem Depth perception for autonomous systems requires accurate 3D spatial information.
method Proposes Y-GAN, a deep convolutional generative adversarial network.
result Y-GAN estimates depth maps from multi-camera stereo images without ground truth data.
Deep learning powers automotive innovations like self-driving cars.
problem Improving vehicle safety and functionality.
method Deployment of deep learning models in ADAS systems.
result Deep learning enhances performance and functionality of ADAS solutions.
Safe control for vehicles using learned perception from images.
problem Controlling autonomous vehicles with partial state information from images.
method Learned perception map and safe set design for a closed loop system.
result Generalization properties of the perception-control loop are favorable.
Deep learning models are growing, posing new mathematical challenges.
problem Mathematical challenges in training, inference, generalization, and optimization of deep models.
method Formal mathematical analysis and communication with mathematicians, statisticians, and computer scientists.
result A set of new mathematical challenges in deep learning.
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.
H-ReIL learns to drive safely in near-accident scenarios.
problem Driving safely in high-risk near-accident situations.
method Hierarchical RL and IL approach.
result High-level policy switches between low-level policies for safe driving.
This work improves vehicle trajectory prediction for safer self-driving cars.
problem Improving trajectory predictions for safer self-driving cars.
method Deep-learning-based method combining AI and physically grounded models.
result Proposes a method that outperforms existing state-of-the-art.
GE finds failures in autonomous systems without domain heuristics.
problem Finding failures in autonomous systems without domain-specific heuristics.
method Adaptive stress testing using go-explore (GE) algorithm.
result GE finds failures in scenarios other RL techniques cannot solve.
As part of autonomous car driving systems, semantic segmentation is an essential component to obtain a full understanding of the car's environment. One difficulty, that occurs while training neural networks for this purpose, is class imbalance of training data. Consequently, a neural network trained on unbalanced data …
Safe reinforcement learning for robots using model predictive shielding.
problem Ensuring safety of learned policies in robotics tasks.
method Model Predictive Shielding (MPS) that switches between learned and backup policies.
result Guaranteed safety of learned policies in challenging robotics tasks.
Autonomous driving requires 3D perception of vehicles and other objects in the in environment. Much of the current methods support 2D vehicle detection. This paper proposes a flexible pipeline to adopt any 2D detection network and fuse it with a 3D point cloud to generate 3D information with minimum changes of the 2D d…
A new car following model reduces platoon level traffic errors.
problem Enhance traffic micro-simulation accuracy in platoon level traffic.
method Unidirectional interconnected LSTM model structure and scheduled sampling technique.
result The proposed model reduces errors by almost 40% compared to traditional models.
Perception technologies in Autonomous Driving are experiencing their golden age due to the advances in Deep Learning. Yet, most of these systems rely on the semantically rich information of RGB images. Deep Learning solutions applied to the data of other sensors typically mounted on autonomous cars (e.g. lidars or rada…
Convolutional neural networks are commonly used to control the steering angle for autonomous cars. Most of the time, multiple long range cameras are used to generate lateral failure cases. In this paper we present a novel model to generate this data and label augmentation using only one short range fisheye camera. We p…
A car's motion shows flat parabolic geometry.
problem Understanding the geometry of a car's motion.
method Analyzing a car as a nonholonomic system.
result Shows a car's motion as a flat parabolic geometry.
The operational space of an autonomous vehicle (AV) can be diverse and vary significantly. This may lead to a scenario that was not postulated in the design phase. Due to this, formulating a rule based decision maker for selecting maneuvers may not be ideal. Similarly, it may not be effective to design an a-priori cost…
A kinematics of the motion of a car is reformulated in terms of the theory of gauge potentials (connection on principal bundle). E(2)-connection originates in the no-slipping contact of the car with a road.