In the autonomous driving testing methods based on evolving scenarios, the construction method of the driver model, which determines the driving maneuvers of background vehicles (BVs) in the scenario, plays a critical role in generating safety-critical scenarios. In particular, the cooperative adversarial driving characteristics between BVs can contribute to the efficient generation of safety-critical scenarios with high testing value. In this paper, a multi-agent reinforcement learning (MARL) method is used to train and generate a dual-modal driver model (Dual-DM) with non-adversarial and adversarial driving modalities. The model is then connected to a continuous simulated traffic environment to generate complex, diverse and strong interactive safety-critical scenarios through evolving scenario generation method. After that, the generated evolving scenarios are evaluated in terms of fidelity, test efficiency, complexity and diversity. Results show that without performance degradation in scenario fidelity (>85% similarity to real-world scenarios) and complexity (complexity metric: 0.45, +32.35% and +12.5% over two baselines), Dual-DM achieves a substantial enhancement in the efficiency of generating safety-critical scenarios (efficiency metric: 0.86, +195% over two baselines). Furthermore, statistical analysis and case studies demonstrate the diversity of safety-critical evolving scenarios generated by Dual-DM in terms of the adversarial interaction patterns. Therefore, Dual-DM can greatly improve the performance of the generation of safety-critical scenarios through evolving scenario generation method.
CM2-Net: Continual Cross-Modal Mapping Network for Driver Action Recognition
School of Electrical and Electronic Engineering, Nanyang Technological University（南洋理工大学电气与电子工程学院）；Continental-NTU Corporate Lab, Nanyang Technological University（大陆集团-南洋理工大学联合企业实验室）；College of Computer Science and Technology, Harbin Engineering University（哈尔滨工程大学计算机科学与技术学院）
Vicomtech Foundation, Basque Research and Technology Alliance (BRTA)（维科姆技术基金会，巴斯克研究与技术联盟）；ETS Ingenieros de Telecomunicación, Universidad Politécnica de Madrid（马德里理工大学电信工程学院）；Dependability Research Lab, Intel Labs Europe, Intel Deutschland GmbH（英特尔德国有限公司欧洲英特尔实验室可靠性研究实验室）
Vision is the richest and most cost-effective technology for Driver Monitoring Systems (DMS), especially after the recent success of Deep Learning (DL) methods. The lack of sufficiently large and comprehensive datasets is currently a bottleneck for the progress of DMS development, crucial for the transition of automated driving from SAE Level-2 to SAE Level-3. In this paper, we introduce the Driver Monitoring Dataset (DMD), an extensive dataset which includes real and simulated driving scenarios: distraction, gaze allocation, drowsiness, hands-wheel interaction and context data, in 41 hours of…
Evolving Safety Landscape of Multi-modal Large Language Models: A Survey of Emerging Threats and Safeguards
University of Alabama at Birmingham（阿拉巴马大学伯明翰分校）；NVIDIA（英伟达公司）；Penn State University（宾夕法尼亚州立大学）；Columbia University（哥伦比亚大学）；University of Missouri-Kansas City（密苏里大学堪萨斯分校）；Florida State University（佛罗里达州立大学）；Auburn University（奥本大学）
Generative adversarial imitation learning (GAIL) has shown promising results by taking advantage of generative adversarial nets, especially in the field of robot learning. However, the requirement of isolated single modal demonstrations limits the scalability of the approach to real world scenarios such as autonomous vehicles' demand for a proper understanding of human drivers' behavior. In this paper, we propose a novel multi-modal GAIL framework, named Triple-GAIL, that is able to learn skill selection and imitation jointly from both expert demonstrations and continuously generated experienc…
Eindhoven University of Technology（埃因霍温理工大学）；Philips Research（飞利浦研究院）
Stress can be seen as a physiological response to everyday emotional, mental and physical challenges. A long-term exposure to stressful situations can have negative health consequences, such as increased risk of cardiovascular diseases and immune system disorder. Therefore, a timely stress detection can lead to systems for better management and prevention in future circumstances. In this paper, we suggest a multi-task learning based neural network approach (with hard parameter sharing of mutual representation and task-specific layers) for personalized stress recognition using skin conductance …
Advanced driver assistance systems (ADAS) can be significantly improved with effective driver action prediction (DAP). Predicting driver actions early and accurately can help mitigate the effects of potentially unsafe driving behaviors and avoid possible accidents. In this paper, we formulate driver action prediction as a timeseries anomaly prediction problem. While the anomaly (driver actions of interest) detection might be trivial in this context, finding patterns that consistently precede an anomaly requires searching for or extracting features across multi-modal sensory inputs. We present …
We present a new method to learn video representations from large-scale unlabeled video data. Ideally, this representation will be generic and transferable, directly usable for new tasks such as action recognition and zero or few-shot learning. We formulate unsupervised representation learning as a multi-modal, multi-task learning problem, where the representations are shared across different modalities via distillation. Further, we introduce the concept of loss function evolution by using an evolutionary search algorithm to automatically find optimal combination of loss functions capturing ma…
Samsung Research, Samsung Electronics Co. LTD（三星电子有限公司三星研究院）；Graduate School of Information Security, Korea University（高丽大学信息安全研究生院）
As automobiles become intelligent, automobile theft methods are evolving intelligently. Therefore automobile theft detection has become a major research challenge. Data-mining, biometrics, and additional authentication methods have been proposed to address automobile theft, in previous studies. Among these methods, data-mining can be used to analyze driving characteristics and identify a driver comprehensively. However, it requires a labeled driving dataset to achieve high accuracy. It is impractical to use the actual automobile theft detection system because real theft driving data cannot be …
Honda Research Institute, USA（美国本田研究院）；Carnegie Mellon University（卡内基梅隆大学）
The Tactical Driver Behavior modeling problem requires understanding of driver actions in complicated urban scenarios from a rich multi modal signals including video, LiDAR and CAN bus data streams. However, the majority of deep learning research is focused either on learning the vehicle/environment state (sensor fusion) or the driver policy (from temporal data), but not both. Learning both tasks end-to-end offers the richest distillation of knowledge, but presents challenges in formulation and successful training. In this work, we propose promising first steps in this direction. Inspired by t…
Through deep learning and computer vision techniques, driving manoeuvres can be predicted accurately a few seconds in advance. Even though adapting a learned model to new drivers and different vehicles is key for robust driver-assistance systems, this problem has received little attention so far. This work proposes to tackle this challenge through domain adaptation, a technique closely related to transfer learning. A proof of concept for the application of a Domain-Adversarial Recurrent Neural Network (DA-RNN) to multi-modal time series driving data is presented, in which domain-invariant feat…
The University of Michigan（密歇根大学）；University of Pittsburgh（匹兹堡大学）；University of Michigan（密歇根大学）
It is extremely important to ensure a safe takeover transition in conditionally automated driving. One of the critical factors that quantifies the safe takeover transition is takeover time. Previous studies identified the effects of many factors on takeover time, such as takeover lead time, non-driving tasks, modalities of the takeover requests (TORs), and scenario urgency. However, there is a lack of research to predict takeover time by considering these factors all at the same time. Toward this end, we used eXtreme Gradient Boosting (XGBoost) to predict the takeover time using a dataset from…
The ability to simultaneously leverage multiple modes of sensor information is critical for perception of an automated vehicle's physical surroundings. Spatio-temporal alignment of registration of the incoming information is often a prerequisite to analyzing the fused data. The persistence and reliability of multi-modal registration is therefore the key to the stability of decision support systems ingesting the fused information. LiDAR-video systems like on those many driverless cars are a common example of where keeping the LiDAR and video channels registered to common physical features is im…
Looking and Listening Inside and Outside: Multimodal Artificial Intelligence Systems for Driver Safety Assessment and Intelligent Vehicle Decision-Making
Machine Intelligence, Interaction, and Imagination (Mi3) Laboratory（机器智能、交互与想象实验室）；Laboratory for Intelligent and Safe Automobiles (LISA)（智能与安全汽车实验室）；Johns Hopkins University（约翰霍普金斯大学）；Center for Medicinal Cannabis Research (CMCR)（医药大麻研究中心）
EvoMail: Self-Evolving Cognitive Agents for Adaptive Spam and Phishing Email Defense
People’s Liberation Army 77606 Unit（中国人民解放军77606单位）；Field Engineering College, Army Engineering University of PLA（陆军工程大学工程学院）；College Of Software, ZhengZhou University of Light Industry（郑州轻工业大学软件学院）
Markov Regime-Switching Intelligent Driver Model for Interpretable Car-Following Behavior
Department of Civil Engineering, McGill University, Montreal, QC H3A 0C3, Canada；Laboratory for Information \& Decision Systems (LIDS), Massachusetts Institute of Technology, Cambridge, MA 02139, USA
