Virtual testing requires hazardous scenarios to effectively test autonomous vehicles (AVs). Existing studies have obtained rarer events by sampling methods in a fixed scenario space. In reality, heterogeneous drivers behave differently when facing the same situation. To generate more realistic and efficient scenarios, we propose a two-stage heterogeneous driver model to change the number of dangerous scenarios in the scenario space. We trained the driver model using the HighD dataset, and generated scenarios through simulation. Simulations were conducted in 20 experimental groups with heterogeneous driver models and 5 control groups with the original driver model. The results show that, by adjusting the number and position of aggressive drivers, the percentage of dangerous scenarios was significantly higher compared to that of models not accounting for driver heterogeneity. To further verify the effectiveness of our method, we evaluated two driving strategies: car-following and cut-in scenarios. The results verify the effectiveness of our approach. Cumulatively, the results indicate that our approach could accelerate the testing of AVs.
An end-to-end approach to autonomous navigation that is based on deep reinforcement learning (DRL) with a survival penalty function is proposed in this paper. Two actor–critic (AC) frameworks, namely, deep deterministic policy gradient (DDPG) and twin-delayed DDPG (TD3), are empl…
Tea bud target detection is essential for mechanized selective harvesting. To address the challenges of low detection precision caused by the complex backgrounds of tea leaves, this paper introduces a novel model called Tea-YOLOv8s. First, multiple data augmentation techniques ar…
Accurate fault diagnosis is essential for the safe operation of rotating machinery. Recently, traditional deep learning-based fault diagnosis have achieved promising results. However, most of these methods focus only on supervised learning and tend to use small convolution kernel…
At the beginning of a project or research that involves the issue of autonomous navigation of mobile robots, a decision must be made about working with traditional control algorithms or algorithms based on artificial intelligence. This decision is not usually easy, as the computa…
Raindrops can scatter and absorb light, causing images to become blurry or distorted. To improve image quality by reducing the impact of raindrops, this paper proposes a novel generative adversarial network for image de-raining. The network comprises two parts: a generative netwo…
Deep learning models have been used in creating various effective image classification applications. However, they are vulnerable to adversarial attacks that seek to misguide the models into predicting incorrect classes. Our study of major adversarial attack models shows that the…