An enhanced motion planning approach by integrating driving heterogeneity and long-term trajectory prediction for automated driving systems

Navigating automated driving systems (ADSs) through complex driving environments is difficult. Predicting the driving behavior of surrounding human-driven vehicles (HDVs) is a critical component of an ADS. This paper proposes an enhanced motion-planning approach for an ADS in a highway-merging scenario. The proposed enhanced approach utilizes the results of two aspects: the driving behavior and long-term trajectory of surrounding HDVs, which are coupled using a hierarchical model that is used for the motion planning of an ADS to improve driving safety.

Auto-weighting for Breast Cancer Classification in Multimodal Ultrasound

Breast cancer is the most common invasive cancer in women. Besides the primary B-mode ultrasound screening, sonographers have explored the inclusion of Doppler, strain and shear-wave elasticity imaging to advance the diagnosis. However, recognizing useful patterns in all types of images and weighing up the significance of each modality can elude less-experienced clinicians. In this paper, we explore, for the first time, an automatic way to combine the four types of ultrasonography to discriminate between benign and malignant breast nodules. A novel multimodal network is proposed, along with promising learnability and simplicity to improve classification accuracy. The key is using a weight-sharing strategy to encourage interactions between modalities and adopting an additional cross-modalities objective to integrate global information. In contrast to hardcoding the weights of each modality in the model, we embed it in a Reinforcement Learning framework to learn this weighting in an end-to-end manner. Thus the model is trained to seek the optimal multimodal combination without handcrafted heuristics. The proposed framework is evaluated on a dataset contains 1616 set of multimodal images. Results showed that the model scored a high classification accuracy of 95.4%, which indicates the efficiency of the proposed method.