Bi-Mapper: Holistic BEV Semantic Mapping for Autonomous Driving

A semantic map of the road scene, covering fundamental road elements, is an essential ingredient in autonomous driving systems. It provides important perception foundations for positioning and planning when rendered in the Bird's-Eye-View (BEV). Currently, the prior knowledge of hypothetical depth can guide the learning of translating front perspective views into BEV directly with the help of calibration parameters. However, it suffers from geometric distortions in the representation of distant objects. In addition, another stream of methods without prior knowledge can learn the transformation between front perspective views and BEV implicitly with a global view. Considering that the fusion of different learning methods may bring surprising beneficial effects, we propose a Bi-Mapper framework for top-down road-scene semantic understanding, which incorporates a global view and local prior knowledge. To enhance reliable interaction between them, an asynchronous mutual learning strategy is proposed. At the same time, an Across-Space Loss (ASL) is designed to mitigate the negative impact of geometric distortions. Extensive results on nuScenes and Cam2BEV datasets verify the consistent effectiveness of each module in the proposed Bi-Mapper framework. Compared with exiting road mapping networks, the proposed Bi-Mapper achieves 2.1% higher IoU on the nuScenes dataset. Moreover, we verify the generalization performance of Bi-Mapper in a real-world driving scenario. The source code is publicly available at https://github.com/lynn-yu/Bi-Mapper.Comment: Accepted to IEEE Robotics and Automation Letters (RA-L). The source code is publicly available at https://github.com/lynn-yu/Bi-Mappe

FusionPlanner: A Multi-task Motion Planner for Mining Trucks using Multi-sensor Fusion Method

In recent years, significant achievements have been made in motion planning for intelligent vehicles. However, as a typical unstructured environment, open-pit mining attracts limited attention due to its complex operational conditions and adverse environmental factors. A comprehensive paradigm for unmanned transportation in open-pit mines is proposed in this research, including a simulation platform, a testing benchmark, and a trustworthy and robust motion planner. \textcolor{red}{Firstly, we propose a multi-task motion planning algorithm, called FusionPlanner, for autonomous mining trucks by the Multi-sensor fusion method to adapt both lateral and longitudinal control tasks for unmanned transportation. Then, we develop a novel benchmark called MiningNav, which offers three validation approaches to evaluate the trustworthiness and robustness of well-trained algorithms in transportation roads of open-pit mines. Finally, we introduce the Parallel Mining Simulator (PMS), a new high-fidelity simulator specifically designed for open-pit mining scenarios. PMS enables the users to manage and control open-pit mine transportation from both the single-truck control and multi-truck scheduling perspectives.} \textcolor{red}{The performance of FusionPlanner is tested by MiningNav in PMS, and the empirical results demonstrate a significant reduction in the number of collisions and takeovers of our planner. We anticipate our unmanned transportation paradigm will bring mining trucks one step closer to trustworthiness and robustness in continuous round-the-clock unmanned transportation.Comment: 2Pages, 10 figure

Milestones in Autonomous Driving and Intelligent Vehicles Part II: Perception and Planning

Growing interest in autonomous driving (AD) and intelligent vehicles (IVs) is fueled by their promise for enhanced safety, efficiency, and economic benefits. While previous surveys have captured progress in this field, a comprehensive and forward-looking summary is needed. Our work fills this gap through three distinct articles. The first part, a "Survey of Surveys" (SoS), outlines the history, surveys, ethics, and future directions of AD and IV technologies. The second part, "Milestones in Autonomous Driving and Intelligent Vehicles Part I: Control, Computing System Design, Communication, HD Map, Testing, and Human Behaviors" delves into the development of control, computing system, communication, HD map, testing, and human behaviors in IVs. This part, the third part, reviews perception and planning in the context of IVs. Aiming to provide a comprehensive overview of the latest advancements in AD and IVs, this work caters to both newcomers and seasoned researchers. By integrating the SoS and Part I, we offer unique insights and strive to serve as a bridge between past achievements and future possibilities in this dynamic field.Comment: 17pages, 6figures. IEEE Transactions on Systems, Man, and Cybernetics: System

Motion Planning for Autonomous Driving: The State of the Art and Future Perspectives

Thanks to the augmented convenience, safety advantages, and potential commercial value, Intelligent vehicles (IVs) have attracted wide attention throughout the world. Although a few autonomous driving unicorns assert that IVs will be commercially deployable by 2025, their implementation is still restricted to small-scale validation due to various issues, among which precise computation of control commands or trajectories by planning methods remains a prerequisite for IVs. This paper aims to review state-of-the-art planning methods, including pipeline planning and end-to-end planning methods. In terms of pipeline methods, a survey of selecting algorithms is provided along with a discussion of the expansion and optimization mechanisms, whereas in end-to-end methods, the training approaches and verification scenarios of driving tasks are points of concern. Experimental platforms are reviewed to facilitate readers in selecting suitable training and validation methods. Finally, the current challenges and future directions are discussed. The side-by-side comparison presented in this survey not only helps to gain insights into the strengths and limitations of the reviewed methods but also assists with system-level design choices.Comment: 20 pages, 14 figures and 5 table

One independent or many independent? The relationship among self-construal, number of brand endorsers, and brand attitudes

IntroductionIt was common for brands to use different numbers of endorsers in marketing practice. Nevertheless, research on brand endorsers’ quantity has not yielded a uniform consensus. The previous research about brand endorsers mainly focuses on the appeal of endorsement, brand category, and endorser characteristics, paying less attention to the impact of cultural factors, particularly self-construal. This study delves into selecting brand endorsers across diverse cultural regions for the same brand.MethodsDrawing on the principles of self-consistency theory and self-construal theory, our research, conducted through three distinct experiments, reveals that consumers tend to hold more favorable opinions about brands endorsed by a single individual. Furthermore, self-consistency emerges as a crucial mediating factor in this phenomenon. Additionally, self-construal is an essential factor among consumers from various cultural backgrounds.ResultsConsumers with an independent self-construal exhibit more favorable brand perceptions when it comes to single-endorser brands compared to their counterparts with an interdependent self-construal. Conversely, individuals with an interdependent self-construal demonstrate a more positive disposition towards brands with multiple endorsers than those with an independent self-construal.DiscussionThis research not only enriches and extends our theoretical understanding of the impact of the number of brand endorsers on consumer brand attitudes but also provides valuable practical insights for optimizing the selection of brand endorsers for companies

Milestones in Autonomous Driving and Intelligent Vehicles Part \uppercase\expandafter{\romannumeral1}: Control, Computing System Design, Communication, HD Map, Testing, and Human Behaviors

Interest in autonomous driving (AD) and intelligent vehicles (IVs) is growing at a rapid pace due to the convenience, safety, and economic benefits. Although a number of surveys have reviewed research achievements in this field, they are still limited in specific tasks and lack systematic summaries and research directions in the future. Our work is divided into 3 independent articles and the first part is a Survey of Surveys (SoS) for total technologies of AD and IVs that involves the history, summarizes the milestones, and provides the perspectives, ethics, and future research directions. This is the second part (Part \uppercase\expandafter{\romannumeral1} for this technical survey) to review the development of control, computing system design, communication, High Definition map (HD map), testing, and human behaviors in IVs. In addition, the third part (Part \uppercase\expandafter{\romannumeral2} for this technical survey) is to review the perception and planning sections. The objective of this paper is to involve all the sections of AD, summarize the latest technical milestones, and guide abecedarians to quickly understand the development of AD and IVs. Combining the SoS and Part \uppercase\expandafter{\romannumeral2}, we anticipate that this work will bring novel and diverse insights to researchers and abecedarians, and serve as a bridge between past and future.Comment: 18 pages, 4 figures, 3 table

Room temperature 2D ferromagnetism in few-layered 1TT-CrTe2_{2}

Spin-related electronics using two dimensional (2D) van der Waals (vdW) materials as a platform are believed to hold great promise for revolutionizing the next generation spintronics. Although many emerging new phenomena have been unravelled in 2D electronic systems with spin long-range orderings, the scarcely reported room temperature magnetic vdW material has thus far hindered the related applications. Here, we show that intrinsic ferromagnetically aligned spin polarization can hold up to 316 K in a metallic phase of 1$T$-CrTe$_{2}$ in the few-layer limit. This room temperature 2D long range spin interaction may be beneficial from an itinerant enhancement. Spin transport measurements indicate an in-plane room temperature negative anisotropic magnetoresistance (AMR) in few-layered CrTe$_{2}$, but a sign change in the AMR at lower temperature, with -0.6$\%$ at 300 K and +5$\%$ at 10 K, respectively. This behavior may originate from the specific spin polarized band structure of CrTe$_{2}$. Our findings provide insights into magnetism in few-layered CrTe$_{2}$, suggesting potential for future room temperature spintronic applications of such 2D vdW magnets.Comment: 9 Pages, 4 Figure

Milestones in autonomous driving and intelligent vehicles: survey of surveys

Interest in autonomous driving (AD) and intelligent vehicles (IVs) is growing at a rapid pace due to the convenience, safety, and economic benefits. Although a number of surveys have reviewed research achievements in this field, they are still limited in specific tasks, lack of systematic summary and research directions in the future. Here we propose a Survey of Surveys (SoS) for total technologies of AD and IVs that reviews the history, summarizes the milestones, and provides the perspectives, ethics, and future research directions. To our knowledge, this article is the first SoS with milestones in AD and IVs, which constitutes our complete research work together with two other technical surveys. We anticipate that this article will bring novel and diverse insights to researchers and abecedarians, and serve as a bridge between past and future

Long-term exposure to air pollution and lung function among children in China: Association and effect modification

BackgroundChildren are vulnerable to the respiratory effects of air pollution, and their lung function has been associated with long-term exposure to low air pollution level in developed countries. However, the impact of contemporary air pollution level in developing countries as a result of recent efforts to improve air quality on children's lung function is less understood.MethodsWe obtained a cross-sectional sample of 617 schoolchildren living in three differently polluted areas in Anhui province, China. 2-year average concentrations of air pollutants at the year of spirometry and the previous year (2017–2018) obtained from district-level air monitoring stations were used to characterize long-term exposure. Forced vital capacity (FVC), forced expiratory volume in 1 second (FEV1), and forced expiratory flow between 25 and 75% of FVC (FEF25−75) were determined under strict quality control. Multivariable regression was employed to evaluate the associations between air pollution level and lung function parameters, overall and by demographic characteristics, lifestyle, and vitamin D that was determined by liquid chromatography tandem mass spectrometry.ResultsMean concentration of fine particulate matter was 44.7 μg/m3, which is slightly above the interim target 1 standard of the World Health Organization. After adjusting for confounders, FVC, FEV1, and FEF25−75 showed inverse trends with increasing air pollution levels, with children in high exposure group exhibiting 87.9 [95% confidence interval (CI): 9.5, 166.4] mL decrement in FEV1 and 195.3 (95% CI: 30.5, 360.1) mL/s decrement in FEF25−75 compared with those in low exposure group. Additionally, the above negative associations were more pronounced among those who were younger, girls, not exposed to secondhand smoke, non-overweight, physically inactive, or vitamin D deficient.ConclusionsOur study suggests that long-term exposure to relatively high air pollution was associated with impaired lung function in children. More stringent pollution control measures and intervention strategies accounting for effect modification are needed for vulnerable populations in China and other developing countries

Real-time Monitoring for the Next Core-Collapse Supernova in JUNO

Core-collapse supernova (CCSN) is one of the most energetic astrophysical events in the Universe. The early and prompt detection of neutrinos before (pre-SN) and during the SN burst is a unique opportunity to realize the multi-messenger observation of the CCSN events. In this work, we describe the monitoring concept and present the sensitivity of the system to the pre-SN and SN neutrinos at the Jiangmen Underground Neutrino Observatory (JUNO), which is a 20 kton liquid scintillator detector under construction in South China. The real-time monitoring system is designed with both the prompt monitors on the electronic board and online monitors at the data acquisition stage, in order to ensure both the alert speed and alert coverage of progenitor stars. By assuming a false alert rate of 1 per year, this monitoring system can be sensitive to the pre-SN neutrinos up to the distance of about 1.6 (0.9) kpc and SN neutrinos up to about 370 (360) kpc for a progenitor mass of 30$M_{\odot}$ for the case of normal (inverted) mass ordering. The pointing ability of the CCSN is evaluated by using the accumulated event anisotropy of the inverse beta decay interactions from pre-SN or SN neutrinos, which, along with the early alert, can play important roles for the followup multi-messenger observations of the next Galactic or nearby extragalactic CCSN.Comment: 24 pages, 9 figure