arXiv subjects

Yiru Liu

Publications and source records attributed to Yiru Liu.

3 recordsLinked to original sources

arXiv2024

InterHub: A Naturalistic Trajectory Dataset with Dense Interaction for Autonomous Driving

The driving interaction-a critical yet complex aspect of daily driving-lies at the core of autonomous driving research. However, real-world driving scenarios sparsely capture rich interaction events, limiting the availability of comprehensive trajectory datasets for this purpose. To address this challenge, we present InterHub, a dense interaction dataset derived by mining interaction events from extensive naturalistic driving records. We employ formal methods to describe and extract multi-agent interaction events, exposing the limitations of existing autonomous driving solutions. Additionally, we introduce a user-friendly toolkit enabling the expansion of InterHub with both public and private data. By unifying, categorizing, and analyzing diverse interaction events, InterHub facilitates cross-comparative studies and large-scale research, thereby advancing the evaluation and development of autonomous driving technologies.

cs.RO↗

arXiv2024

Towards Interactive Autonomous Vehicle Testing: Vehicle-Under-Test-Centered Traffic Simulation

The simulation-based testing is essential for safely implementing autonomous vehicles (AV) on roads, necessitating simulated traffic environments that dynamically interact with the Vehicle Under Test (VUT). This study introduces a VUT-Centered environmental Dynamics Inference (VCDI) model for realistic, interactive, and diverse background traffic simulation. Serving the purpose of AV testing, VCDI employs Transformer-based modules in a conditional trajectory inference framework to simulate VUT-centered driving interaction events. First, the VUT future motion is taken as an augmented model input to bridge the action dependence between VUT and background objects. Second, to enrich the scenario diversity, a Gaussian-distributional cost function module is designed to capture the uncertainty of the VUT's strategy, triggering various scenario evolution. Experimental results validate VCDI's trajectory-level simulation precision which outperforms the state-of-the-art trajectory prediction work. The flexibility of the distributional cost function allows VCDI to provide diverse-yet-realistic scenarios for AV testing. We demonstrate such capability by modifying the anticipation to the VUT's cost-based strategy and thus achieve multiple testing scenarios with explainable background traffic evolution. Codes are available at https://github.com/YNYSNL/VCDI.

cs.RO↗

arXiv2021

Resource Allocation for Millimeter-Wave Train-Ground Communications in High-Speed Railway Scenarios

With the development of wireless communication, higher requirements arise for train-ground wireless communications in high-speed railway (HSR) scenarios. The millimeter-wave (mm-wave) frequency band with rich spectrum resources can provide users in HSR scenarios with high performance broadband multimedia services, while the full-duplex (FD) technology has become mature. In this paper, we study train-ground communication system performance in HSR scenarios with mobile relays (MRs) mounted on rooftop of train and operating in the FD mode. We formulate a nonlinear programming problem to maximize network capacity by allocation of spectrum resources. Then, we develop a sequential quadratic programming (SQP) algorithm based on the Lagrange function to solve the bandwidth allocation optimization problem for track-side base station (BS) and MRs in this mm-wave train-ground communication system. Extensive simulation results demonstrate that the proposed SQP algorithm can effectively achieve high network capacity for trainground communication in HSR scenarios while being robust to the residual self-interference (SI).

cs.IT↗