Fine-Grained Extraction of Road Networks via Joint Learning of Connectivity and Segmentation

Road network extraction from satellite images is widely applicated in intelligent traffic management and autonomous driving fields. The high-resolution remote sensing images contain complex road areas and distracted background, which make it a challenge for road extraction. In this study, we present a stacked multitask network for end-to-end segmenting roads while preserving connectivity correctness. In the network, a global-aware module is introduced to enhance pixel-level road feature representation and eliminate background distraction from overhead images; a road-direction-related connectivity task is added to ensure that the network preserves the graph-level relationships of the road segments. We also develop a stacked multihead structure to jointly learn and effectively utilize the mutual information between connectivity learning and segmentation learning. We evaluate the performance of the proposed network on three public remote sensing datasets. The experimental results demonstrate that the network outperforms the state-of-the-art methods in terms of road segmentation accuracy and connectivity maintenance

From Specifications to Behavior: Maneuver Verification in a Semantic State Space

To realize a market entry of autonomous vehicles in the foreseeable future, the behavior planning system will need to abide by the same rules that humans follow. Product liability cannot be enforced without a proper solution to the approval trap. In this paper, we define a semantic abstraction of the continuous space and formalize traffic rules in linear temporal logic (LTL). Sequences in the semantic state space represent maneuvers a high-level planner could choose to execute. We check these maneuvers against the formalized traffic rules using runtime verification. By using the standard model checker NuSMV, we demonstrate the effectiveness of our approach and provide runtime properties for the maneuver verification. We show that high-level behavior can be verified in a semantic state space to fulfill a set of formalized rules, which could serve as a step towards safety of the intended functionality.Comment: Published at IEEE Intelligent Vehicles Symposium (IV), 201

Ontology based Scene Creation for the Development of Automated Vehicles

The introduction of automated vehicles without permanent human supervision demands a functional system description, including functional system boundaries and a comprehensive safety analysis. These inputs to the technical development can be identified and analyzed by a scenario-based approach. Furthermore, to establish an economical test and release process, a large number of scenarios must be identified to obtain meaningful test results. Experts are doing well to identify scenarios that are difficult to handle or unlikely to happen. However, experts are unlikely to identify all scenarios possible based on the knowledge they have on hand. Expert knowledge modeled for computer aided processing may help for the purpose of providing a wide range of scenarios. This contribution reviews ontologies as knowledge-based systems in the field of automated vehicles, and proposes a generation of traffic scenes in natural language as a basis for a scenario creation.Comment: Accepted at the 2018 IEEE Intelligent Vehicles Symposium, 8 pages, 10 figure

Multi-Lane Perception Using Feature Fusion Based on GraphSLAM

An extensive, precise and robust recognition and modeling of the environment is a key factor for next generations of Advanced Driver Assistance Systems and development of autonomous vehicles. In this paper, a real-time approach for the perception of multiple lanes on highways is proposed. Lane markings detected by camera systems and observations of other traffic participants provide the input data for the algorithm. The information is accumulated and fused using GraphSLAM and the result constitutes the basis for a multilane clothoid model. To allow incorporation of additional information sources, input data is processed in a generic format. Evaluation of the method is performed by comparing real data, collected with an experimental vehicle on highways, to a ground truth map. The results show that ego and adjacent lanes are robustly detected with high quality up to a distance of 120 m. In comparison to serial lane detection, an increase in the detection range of the ego lane and a continuous perception of neighboring lanes is achieved. The method can potentially be utilized for the longitudinal and lateral control of self-driving vehicles