Related papers: Semi-autonomous Intersection Collision Avoidance t…
We consider the problem of optimal unsignalized intersection management, wherein we seek to obtain safe and optimal trajectories, for a set of robots that arrive randomly and continually. This problem involves repeatedly solving a mixed…
Safety remains one of the most critical challenges in autonomous driving systems. In recent years, the end-to-end driving has shown great promise in advancing vehicle autonomy in a scalable manner. However, existing approaches often face…
In earlier work, a decentralized optimal control framework was established for coordinating online connected and automated vehicles (CAVs) at urban intersections. The policy designating the sequence that each CAV crosses the intersection,…
Technology of autonomous vehicles (AVs) is getting mature and many AVs will appear on the roads in the near future. AVs become connected with the support of various vehicular communication technologies and they possess high degree of…
Background Road collisions and casualties pose a serious threat to commuters around the globe. Autonomous Vehicles (AVs) aim to make the use of technology to reduce the road accidents. However, the most of research work in the context of…
The coordination of highly automated vehicles (or agents) in road intersections is an inherently nonconvex and challenging problem. In this paper, we propose a distributed motion planning scheme under reasonable vehicle-to-vehicle…
This work addresses the task of risk evaluation in traffic scenarios with limited observability due to restricted sensorial coverage. Here, we concentrate on intersection scenarios that are difficult to access visually. To identify the area…
In this paper, we provide a theoretical framework for the coordination of connected and automated vehicles (CAVs) at signal-free intersections, accounting for the unexpected presence of pedestrians. First, we introduce a general…
Electric, intelligent, and network are the most important future development directions of automobiles. Intelligent electric vehicles have shown great potentials to improve traffic mobility and reduce emissions, especially at unsignalized…
Autonomous vehicle safety is crucial for the successful deployment of self-driving cars. However, most existing planning methods rely heavily on imitation learning, which limits their ability to leverage collision data effectively.…
To build a smarter and safer city, a secure, efficient, and sustainable transportation system is a key requirement. The autonomous driving system (ADS) plays an important role in the development of smart transportation and is considered one…
We study a novel graph path planning problem for multiple agents that may crash at runtime, and block part of the workspace. In our setting, agents can detect neighboring crashed agents, and change followed paths at runtime. The objective…
Unsignalized intersection driving is challenging for automated vehicles. For safe and efficient performances, the diverse and dynamic behaviors of interacting vehicles should be considered. Based on a game-theoretic framework, a human-like…
This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a…
The transition from today's mostly human-driven traffic to a purely automated one will be a gradual evolution, with the effect that we will likely experience mixed traffic in the near future. Connected and automated vehicles can benefit…
Interactions between pedestrians, bikers, and human-driven vehicles have been a major concern in traffic safety over the years. The upcoming age of autonomous vehicles will further raise major problems on whether self-driving cars can…
We propose GameOpt: a novel hybrid approach to cooperative intersection control for dynamic, multi-lane, unsignalized intersections. Safely navigating these complex and accident prone intersections requires simultaneous trajectory planning…
Police officer presence at an intersection discourages a potential traffic violator from violating the law. It also alerts the motorists' consciousness to take precaution and follow the rules. However, due to the abundant intersections and…
The sudden appearance of a static obstacle on the road, i.e. the moose test, is a well-known emergency scenario in collision avoidance for automated driving. Model Predictive Control (MPC) has long been employed for planning and control of…
Cooperative overtaking is believed to have the capability of improving road safety and traffic efficiency by means of the real-time information exchange between traffic participants, including road infrastructures, nearby vehicles and…