In this review, we provide an overview of emerging trends and challenges in the field of intelligent and autonomous, or self-driving, vehicles. Recent advances in the field of perception, planning, and decision-making for autonomous vehicles have led to great improvements in functional capabilities, with several prototypes already driving on our roads and streets. Yet challenges remain regarding guaranteed performance and safety under all driving circumstances. For instance, planning methods that provide safe and systemcompliant performance in complex, cluttered environments while modeling the uncertain interaction with other traffic participants are required. Furthermore, new paradigms, such as interactive planning and end-to-end learning, open up questions regarding safety and reliability that need to be addressed. In this survey, we emphasize recent approaches for integrated perception and planning and for behavior-aware planning, many of which rely on machine learning. This raises the question of verification and safety, which we also touch upon. Finally, we discuss the state of the art and remaining challenges for managing fleets of autonomous vehicles. 8.1

SignificanceWe present a framework that integrates social psychology tools into controller design for autonomous vehicles. Our key insight utilizes Social Value Orientation (SVO), quantifying an agent’s degree of selfishness or altruism, which allows us to better predict driver behavior. We model interactions between human and autonomous agents with game theory and the principle of best response. Our unified algorithm estimates driver SVOs and incorporates their predicted trajectories into the autonomous vehicle’s control while respecting safety constraints. We study common-yet-difficult traffic scenarios: highway merging and unprotected left turns. Incorporating SVO reduces error in predictions by 25%, validated on 92 human driving merges. Furthermore, we find that merging drivers are more competitive than nonmerging drivers.

Recent research has highlighted the vulnerabilities of modern machine learning based systems to bias, especially towards segments of society that are under-represented in training data. In this work, we develop a novel, tunable algorithm for mitigating the hidden, and potentially unknown, biases within training data. Our algorithm fuses the original learning task with a variational autoencoder to learn the latent structure within the dataset and then adaptively uses the learned latent distributions to re-weight the importance of certain data points while training. While our method is generalizable across various data modalities and learning tasks, in this work we use our algorithm to address the issue of racial and gender bias in facial detection systems. We evaluate our algorithm on the Pilot Parliaments Benchmark (PPB), a dataset specifically designed to evaluate biases in computer vision systems, and demonstrate increased overall performance as well as decreased categorical bias with our debiasing approach. CCS CONCEPTS • Computing methodologies → Artificial intelligence; Machine learning; Neural networks.

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Abstract-Current state-of-the-art vehicle safety systems, such as assistive braking or automatic lane following, are still only able to help in relatively simple driving situations. We introduce a Parallel Autonomy shared-control framework that produces safe trajectories based on human inputs even in much more complex driving scenarios, such as those commonly encountered in an urban setting. We minimize the deviation from the human inputs while ensuring safety via a set of collision avoidance constraints. We develop a receding horizon planner formulated as a Non-linear Model Predictive Control (NMPC) including analytic descriptions of road boundaries, and the configurations and future uncertainties of other traffic participants, and directly supplying them to the optimizer without linearization. The NMPC operates over both steering and acceleration simultaneously. Furthermore, the proposed receding horizon planner also applies to fully autonomous vehicles. We validate the proposed approach through simulations in a wide variety of complex driving scenarios such as leftturns across traffic, passing on busy streets, and under dynamic constraints in sharp turns on a race track.