In this paper, we propose an efficient vehicle trajectory prediction framework based on recurrent neural network. Basically, the characteristic of the vehicle's trajectory is different from that of regular moving objects since it is affected by various latent factors including road structure, traffic rules, and driver's intention. Previous state of the art approaches use sophisticated vehicle behavior model describing these factors and derive the complex trajectory prediction algorithm, which requires a system designer to conduct intensive model optimization for practical use. Our approach is data-driven and simple to use in that it learns complex behavior of the vehicles from the massive amount of trajectory data through deep neural network model. The proposed trajectory prediction method employs the recurrent neural network called long short-term memory (LSTM) to analyze the temporal behavior and predict the future coordinate of the surrounding vehicles. The proposed scheme feeds the sequence of vehicles' coordinates obtained from sensor measurements to the LSTM and produces the probabilistic information on the future location of the vehicles over occupancy grid map. The experiments conducted using the data collected from highway driving show that the proposed method can produce reasonably good estimate of future trajectory.

No abstract

In this paper, we propose a new autonomous braking system based on deep reinforcement learning. The proposed autonomous braking system automatically decides whether to apply the brake at each time step when confronting the risk of collision using the information on the obstacle obtained by the sensors. The problem of designing brake control is formulated as searching for the optimal policy in Markov decision process (MDP) model where the state is given by the relative position of the obstacle and the vehicle's speed, and the action space is defined as the set of the brake actions including 1) no braking, 2) weak, 3) mid, 4) strong brakiong actions. The policy used for brake control is learned through computer simulations using the deep reinforcement learning method called deep Q-network (DQN). In order to derive desirable braking policy, we propose the reward function which balances the damage imposed to the obstacle in case of accident and the reward achieved when the vehicle runs out of risk as soon as possible. DQN is trained for the scenario where a vehicle is encountered with a pedestrian crossing the urban road. Experiments show that the control agent exhibits desirable control behavior and avoids collision without any mistake in various uncertain environments.

No abstract

The goal of multi-modal learning is to use complimentary information on the relevant task provided by the multiple modalities to achieve reliable and robust performance. Recently, deep learning has led significant improvement in multi-modal learning by allowing for fusing high level features obtained at intermediate layers of the deep neural network. This paper addresses a problem of designing robust deep multimodal learning architecture in the presence of the modalities degraded in quality. We introduce deep fusion architecture for object detection which processes each modality using the separate convolutional neural network (CNN) and constructs the joint feature maps by combining the intermediate features obtained by the CNNs. In order to facilitate the robustness to the degraded modalities, we employ the gated information fusion (GIF) network which weights the contribution from each modality according to the input feature maps to be fused. The combining weights are determined by applying the convolutional layers followed by the sigmoid function to the concatenated intermediate feature maps. The whole network including the CNN backbone and GIF is trained in an end-toend fashion. Our experiments show that the proposed GIF network offers the additional architectural flexibility to achieve the robust performance in handling some degraded modalities.