Hierarchical Road Topology Learning for Urban Mapless Driving

被引：3
|
作者：
Zhang, Li [1 ]
Tafazzoli, Faezeh [1 ]
Krehl, Gunther [1 ]
Xu, Runsheng [1 ]
Rehfeld, Timo [1 ]
Schier, Manuel [1 ]
Seal, Arunava [1 ]
机构：
[1] Mercedes Benz Res & Dev North America, Redford, MI 48239 USA
来源：
2022 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2022年
关键词：
D O I：
10.1109/IROS47612.2022.9981820
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The majority of current approaches in autonomous driving rely on High-Definition (HD) maps which detail the road geometry and surrounding area. Yet, this reliance is one of the obstacles to mass deployment of autonomous vehicles due to poor scalability of such prior maps. In this paper, we tackle the problem of online road map extraction via leveraging the sensory system aboard the vehicle itself. To this end, we design a structured model where a graph representation of the road network is generated in a hierarchical fashion within a fully convolutional network. The method is able to handle complex road topology and does not require a user in the loop.
引用
收藏
页码：3816 / 3823
页数：8
相关论文
共 50 条
  • [1] Guided Hierarchical Reinforcement Learning for Safe Urban Driving
    Albilani, Mohamad
    Bouzeghoub, Amel
    2023 IEEE 35TH INTERNATIONAL CONFERENCE ON TOOLS WITH ARTIFICIAL INTELLIGENCE, ICTAI, 2023, : 746 - 753
  • [2] Interpretable Motion Planner for Urban Driving via Hierarchical Imitation Learning
    Wang, Bikun
    Wang, Zhipeng
    Zhu, Chenhao
    Zhang, Zhiqiang
    Wang, Zhichen
    Lin, Penghong
    Liu, Jingchu
    Zhang, Qian
    2023 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IROS, 2023, : 1691 - 1696
  • [3] Mapless navigation via Hierarchical Reinforcement Learning with memory-decaying novelty
    Gao, Yan
    Lin, Feiqiang
    Cai, Boliang
    Wu, Jing
    Wei, Changyun
    Grech, Raphael
    Ji, Ze
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2024, 182
  • [4] Efficient Hierarchical Reinforcement Learning for Mapless Navigation With Predictive Neighbouring Space Scoring
    Gao, Yan
    Wu, Jing
    Yang, Xintong
    Ji, Ze
    IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, 2024, 21 (04) : 5457 - 5472
  • [5] Localization for Autonomous Driving on Urban Road
    Yamamoto, Daiki
    Suganuma, Naoki
    2015 INTERNATIONAL CONFERENCE ON INTELLIGENT INFORMATICS AND BIOMEDICAL SCIENCES (ICIIBMS), 2015, : 452 - 453
  • [6] Topology-aware Road Extraction via Multi-task Learning for Autonomous Driving
    Li, Tao
    Ye, Shanding
    Li, Ruihang
    Fu, Yongjian
    Yang, Guoqing
    Pan, Zhijie
    2023 IEEE 26TH INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS, ITSC, 2023, : 2275 - 2281
  • [7] The topology of urban road networks and its role to urban mobility
    Tsiotas, Dimitrios
    Polyzos, Serafeim
    3RD CONFERENCE ON SUSTAINABLE URBAN MOBILITY (3RD CSUM 2016), 2017, 24 : 482 - 490
  • [8] Predictive hierarchical reinforcement learning for path-efficient mapless navigation with moving target
    Li, Hanxiao
    Luo, Biao
    Song, Wei
    Yang, Chunhua
    NEURAL NETWORKS, 2023, 165 : 677 - 688
  • [9] Deep Semantic Lane Segmentation for Mapless Driving
    Meyer, Annika
    Salscheider, N. Ole
    Orzechowski, Piotr F.
    Stiller, Christoph
    2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2018, : 869 - 875
  • [10] Situational reasoning for road driving in an urban environment
    Du Toit, Noel E.
    Wongpiromsam, Tichakom
    Burdick, Joel W.
    Murray, Richard M.
    IVCS 2008: PROCEEDINGS OF THE 2ND INTERNATIONAL WORKSHOP ON INTELLIGENT VEHICLE CONTROL SYSTEMS, 2008, : 30 - 39
12345