13 citations · 16 across the 14 of their papers we have counts for
4 papers · 1 filter
Real-Time Parallel Trajectory Optimization with Spatiotemporal Safety Constraints for Autonomous Driving in Congested Traffic
Lei Zheng, Rui Yang, Zengqi Peng +3
Multi-modal behaviors exhibited by surrounding vehicles (SVs) can typically lead to traffic congestion and reduce the travel efficiency of autonomous vehicles (AVs) in dense traffi…
Curriculum Proximal Policy Optimization with Stage-Decaying Clipping for Self-Driving at Unsignalized Intersections
Zengqi Peng, Xiao Zhou, Yubin Wang +3
Unsignalized intersections are typically considered as one of the most representative and challenging scenarios for self-driving vehicles. To tackle autonomous driving problems in…
Learning the References of Online Model Predictive Control for Urban Self-Driving
Yubin Wang, Zengqi Peng, Yusen Xie +3
In this work, we propose a novel learning-based model predictive control (MPC) framework for motion planning and control of urban self-driving. In this framework, instantaneous ref…
Spatiotemporal Receding Horizon Control with Proactive Interaction Towards Autonomous Driving in Dense Traffic
Lei Zheng, Rui Yang, Zengqi Peng +2
In dense traffic scenarios, ensuring safety while keeping high task performance for autonomous driving is a critical challenge. To address this problem, this paper proposes a compu…