Accurate maneuver prediction for surrounding vehicles enables intelligent vehicles to make safe and socially compliant decisions in advance, thus improving the safety and comfort of the driving. The main contribution of this paper is proposing a practical, high-performance, and low-cost maneuver-prediction approach for intelligent vehicles. Our approach is based on a dynamic Bayesian network, which exploits multiple predictive features, namely, historical states of predicting vehicles, road structures, as well as traffic interactions for inferring the probability of each maneuver. The paper also presents algorithms of feature extraction for the network. Our approach is verified on real traffic data in large-scale publicly available datasets. The results show that our approach can recognize the lane-change maneuvers with an F1 score of 80% and an advanced prediction time of 3.75 s, which greatly improves the performance on prediction compared to other baseline approaches.

This paper presents a novel cooperative trajectory planning approach for semi-autonomous driving. The machine interacts with the driver at the decision level and the trajectory generation level. To minimize conflicts between the machine and the human, the trajectory planning problem is decomposed into a high-level behavior decision-making problem and a low-level trajectory planning problem. The approach infers the driver’s behavioral semantics according to the driving context and the driver’s input. The trajectories are generated based on the behavioral semantics and driver’s input. The feasibility of the proposed approach is validated by real vehicle experiments. The results prove that the proposed human–machine cooperative trajectory planning approach can successfully help the driver to avoid collisions while respecting the driver’s behavior.

This paper proposes a maneuver evaluation approach to enhance driving safety by providing decision aids. Based on the deliberative understanding of environmental semantic information, the proposed algorithm evaluates the risk of candidate driving maneuvers, including aggressive lane-change maneuver, passive lane-change maneuver, lane-change abort maneuver, and lane-keeping maneuver. The effectiveness of the proposed method is validated through various simulation experiments. The experimental results demonstrate that the proposed approach is capable of efficiently evaluating the feasibility and the cost of each candidate driving maneuver. The approach also provides suggestions on how to adjust the speed, and when to initiate a lane-change maneuver.

Multi-Robot Task Allocation (MRTA) with spatiotemporal constraints presents significant challenges in environmental adaptability. Existing learning-based methods often overlook environmental spatial constraints, leading to spatial information distortion. To address this, we formulate the problem as an asynchronous Markov Decision Process over a directed heterogeneous graph and propose a novel heterogeneous graph neural network named the Edge-Enhanced Attention Network (E2AN). This network integrates a specialized encoder, the Edge-Enhanced Heterogeneous Graph Attention Network (E2HGAT), with an attention-based decoder. By incorporating edge attributes to effectively characterize path costs under spatial constraints, E2HGAT corrects spatial distortion. Furthermore, our approach supports flexible extension to diverse payload scenarios via node attribute adaptation. Extensive experiments conducted in simulated environments with obstructed maps demonstrate that the proposed method outperforms baseline algorithms in task success rate. Remarkably, the model maintains its advantages in generalization tests on unseen maps as well as in scalability tests across varying problem sizes. Ablation studies further validate the critical role of the proposed encoder in capturing spatiotemporal dependencies. Additionally, real-time performance analysis confirms the method’s feasibility for online deployment. Overall, this study offers an effective solution for MRTA problems with complex constraints.

It is of utmost importance for advanced driver assistance systems to evaluate the risk of the current situation and make continuous decisions about what kind of evasive maneuver can be initiated. The purpose of this paper is to establish efficient indicators to evaluate the risk of candidate driving maneuvers for a human-in-the-loop vehicle. A novel safe driving envelope generation method is proposed, which takes various constraints into consideration, including the human operation, vehicle motion limits, and collision avoidance with road boundary and obstacles. The efficiency of the proposed method is validated by simulation experiments and real vehicle tests. The results show that the feasibility of candidate driving maneuvers can be efficiently determined by computing the driving envelope, and the proposed driving envelope method can be easily implemented for real-time applications.

Modelling the multimedia data such as text, images, or videos usually involves the analysis, prediction, or reconstruction of them. The recurrent neural network (RNN) is a powerful machine learning approach to modelling these data in a recursive way. As a variant, the long short-term memory (LSTM) extends the RNN with the ability to remember information for longer. Whilst one can increase the capacity of LSTM by widening or adding layers, additional parameters and runtime are usually required, which could make learning harder. We therefore propose a Tensor LSTM where the hidden states are tensorised as multidimensional arrays (tensors) and updated through a cross-layer convolution. As parameters are spatially shared within the tensor, we can efficiently widen the model without extra parameters by increasing the tensorised size; as deep computations of each time step are absorbed by temporal computations of the time series, we can implicitly deepen the model with little extra runtime by delaying the output. We show by experiments that our model is well-suited for various multimedia data modelling tasks, including text generation, text calculation, image classification, and video prediction.