اشترك بالحزمة الذهبية واحصل على وصول غير محدود شمرا أكاديميا
تسجيل مستخدم جديدModeling Multi-Vehicle Interaction Scenarios Using Gaussian Random Field
57
0
0.0
(
0
)
اسأل ChatGPT حول البحث
ﻻ يوجد ملخص باللغة العربية
Autonomous vehicles are expected to navigate in complex traffic scenarios with multiple surrounding vehicles. The correlations between road users vary over time, the degree of which, in theory, could be infinitely large, thus posing a great challenge in modeling and predicting the driving environment. In this paper, we propose a method to model multi-vehicle interactions using a stochastic vector field model and apply non-parametric Bayesian learning to extract the underlying motion patterns from a large quantity of naturalistic traffic data. We then use this model to reproduce the high-dimensional driving scenarios in a finitely tractable form. We use a Gaussian process to model multi-vehicle motion, and a Dirichlet process to assign each observation to a specific scenario. We verify the effectiveness of the proposed method on highway and intersection datasets from the NGSIM project, in which complex multi-vehicle interactions are prevalent. The results show that the proposed method can capture motion patterns from both settings, without imposing heroic prior, and hence demonstrate the potential application for a wide array of traffic situations. The proposed modeling method could enable simulation platforms and other testing methods designed for autonomous vehicle evaluation, to easily model and generate traffic scenarios emulating large scale driving data.
قيم البحث
اقرأ أيضاً
Multi-vehicle interaction behavior classification and analysis offer in-depth knowledge to make an efficient decision for autonomous vehicles. This paper aims to cluster a wide range of driving encounter scenarios based only on multi-vehicle GPS traj
ectories. Towards this end, we propose a generic unsupervised learning framework comprising two layers: feature representation layer and clustering layer. In the layer of feature representation, we combine the deep autoencoders with a distance-based measure to map the sequential observations of driving encounters into a computationally tractable space that allows quantifying the spatiotemporal interaction characteristics of two vehicles. The clustering algorithm is then applied to the extracted representations to gather homogeneous driving encounters into groups. Our proposed generic framework is then evaluated using 2,568 naturalistic driving encounters. Experimental results demonstrate that our proposed generic framework incorporated with unsupervised learning can cluster multi-trajectory data into distinct groups. These clustering results could benefit decision-making policy analysis and design for autonomous vehicles.
Semantic learning and understanding of multi-vehicle interaction patterns in a cluttered driving environment are essential but challenging for autonomous vehicles to make proper decisions. This paper presents a general framework to gain insights into
intricate multi-vehicle interaction patterns from birds-eye view traffic videos. We adopt a Gaussian velocity field to describe the time-varying multi-vehicle interaction behaviors and then use deep autoencoders to learn associated latent representations for each temporal frame. Then, we utilize a hidden semi-Markov model with a hierarchical Dirichlet process as a prior to segment these sequential representations into granular components, also called traffic primitives, corresponding to interaction patterns. Experimental results demonstrate that our proposed framework can extract traffic primitives from videos, thus providing a semantic way to analyze multi-vehicle interaction patterns, even for cluttered driving scenarios that are far messier than human beings can cope with.
We investigate slow-roll inflation in a multi-field random Gaussian landscape. The landscape is assumed to be small-field, with a correlation length much smaller than the Planck scale. Inflation then typically occurs in small patches of the landscape
, localized near inflection or saddle points. We find that the inflationary track is typically close to a straight line in the field space, and the statistical properties of inflation are similar to those in a one-dimensional landscape. This picture of multi-field inflation is rather different from that suggested by the Dyson Brownian motion model; we discuss the reasons for this difference. We also discuss tunneling from inflating false vacua to the neighborhood of inflection and saddle points and show that the tunneling endpoints tend to concentrate along the flat direction in the landscape.
The equations of a physical constitutive model for material stress within tantalum grains were solved numerically using a tetrahedrally meshed volume. The resulting output included a scalar vonMises stress for each of the more than 94,000 tetrahedra
within the finite element discretization. In this paper, we define an intricate statistical model for the spatial field of vonMises stress which uses the given grain geometry in a fundamental way. Our model relates the three-dimensional field to integrals of latent stochastic processes defined on the vertices of the one- and two-dimensional grain boundaries. An intuitive neighborhood structure of said boundary nodes suggested the use of a latent Gaussian Markov random field (GMRF). However, despite the potential for computational gains afforded by GMRFs, the integral nature of our model and the sheer number of data points pose substantial challenges for a full Bayesian analysis. To overcome these problems and encourage efficient exploration of the posterior distribution, a number of techniques are now combined: parallel computing, sparse matrix methods, and a modification of a block update strategy within the sampling routine. In addition, we use an auxiliary variables approach to accommodate the presence of outliers in the data.
Robots are soon going to be deployed in non-industrial environments. Before society can take such a step, it is necessary to endow complex robotic systems with mechanisms that make them reliable enough to operate in situations where the human factor
is predominant. This calls for the development of robotic frameworks that can soundly guarantee that a collection of properties are verified at all times during operation. While developing a mission plan, robots should take into account factors such as human physiology. In this paper, we present an example of how a robotic application that involves human interaction can be modeled through hybrid automata, and analyzed by using statistical model-checking. We exploit statistical techniques to determine the probability with which some properties are verified, thus easing the state-space explosion problem. The analysis is performed using the Uppaal tool. In addition, we used Uppaal to run simulations that allowed us to show non-trivial time dynamics that describe the behavior of the real system, including human-related variables. Overall, this process allows developers to gain useful insights into their application and to make decisions about how to improve it to balance efficiency and user satisfaction.
سجل دخول لتتمكن من نشر تعليقات
التعليقات
جاري جلب التعليقات
سجل دخول لتتمكن من متابعة معايير البحث التي قمت باختيارها
