8 papers
Safe Autonomous Lane Changing: Planning with Dynamic Risk Fields and Time-Varying Convex Space Generation
Yijun Lu, Zhihao Lin, Zhen Tian
This paper presents a novel trajectory planning pipeline for complex driving scenarios like autonomous lane changing, by integrating risk-aware planning with guaranteed collision a…
Adaptive Evolutionary Framework for Safe, Efficient, and Cooperative Autonomous Vehicle Interactions
Yijun Lu, Zhen Tian, Zhihao Lin
Modern transportation systems face significant challenges in ensuring road safety, given serious injuries caused by road accidents. The rapid growth of autonomous vehicles (AVs) ha…
Hierarchical Multi-Agent MCTS for Safety-Critical Coordination in Mixed-Autonomy Roundabouts
Zhihao Lin, Jianglin Lan, Shuo Liu +3
Navigating unsignalized roundabouts in mixed-autonomy traffic presents significant challenges due to dense vehicle interactions, lane-changing complexities, and behavioral uncertai…
PrefPoE: Advantage-Guided Preference Fusion for Learning Where to Explore
Zhihao Lin, Lin Wu, Zhen Tian +1
Exploration in reinforcement learning remains a critical challenge, as naive entropy maximization often results in high variance and inefficient policy updates. We introduce \textb…
A Conflicts-free, Speed-lossless KAN-based Reinforcement Learning Decision System for Interactive Driving in Roundabouts
Zhihao Lin, Zhen Tian, Jianglin Lan +4
Safety and efficiency are crucial for autonomous driving in roundabouts, especially mixed traffic with both autonomous vehicles (AVs) and human-driven vehicles. This paper presents…
Scenario-based Decision-making Using Game Theory for Interactive Autonomous Driving: A Survey
Zhihao Lin, Zhen Tian
Game-based interactive driving simulations have emerged as versatile platforms for advancing decision-making algorithms in road transport mobility. While these environments offer s…