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Imitation learning is a promising approach for training autonomous vehicles (AV) to navigate complex traffic environments by mimicking expert driver behaviors. While existing imitation learning frameworks focus on leveraging expert…
This paper discusses the limitations of existing microscopic traffic models in accounting for the potential impacts of on-ramp vehicles on the car-following behavior of main-lane vehicles on highways. We first surveyed U.S. on-ramps to…
Personalized driving refers to an autonomous vehicle's ability to adapt its driving behavior or control strategies to match individual users' preferences and driving styles while maintaining safety and comfort standards. However, existing…
In this paper, a synergistic combination of deep reinforcement learning and hierarchical game theory is proposed as a modeling framework for behavioral predictions of drivers in highway driving scenarios. The need for a modeling framework…
Microscopic traffic simulations are used to evaluate the impact of infrastructure modifications and evolving vehicle technologies, such as connected and automated driving. Simulated vehicles are controlled via car-following, lane-changing…
Autonomous vehicles (AVs) must interact with a diverse set of human drivers in heterogeneous geographic areas. Ideally, fleets of AVs should share trajectory data to continually re-train and improve trajectory forecasting models from…
Predicting agents' behavior for vehicles and pedestrians is challenging due to a myriad of factors including the uncertainty attached to different intentions, inter-agent interactions, traffic (environment) rules, individual inclinations,…
Accurately predicting future behaviors of surrounding vehicles is an essential capability for autonomous vehicles in order to plan safe and feasible trajectories. The behaviors of others, however, are full of uncertainties. Both rational…
As we move towards a mixed-traffic scenario of Autonomous vehicles (AVs) and Human-driven vehicles (HDVs), understanding the car-following behaviour is important to improve traffic efficiency and road safety. Using a real-world trajectory…
This paper introduces FedGenGMM, a novel one-shot federated learning approach for Gaussian Mixture Models (GMM) tailored for unsupervised learning scenarios. In federated learning (FL), where multiple decentralized clients collaboratively…
Drivers have distinctively diverse behaviors when operating vehicles in natural traffic flow, such as preferred pedal position, car-following distance, preview time headway, etc. These highly personalized behavioral variations are known to…
Drivers' heterogeneity and the broad range of vehicle characteristics on public roads are primarily responsible for the stochasticity observed in road traffic dynamics. Understanding the behavioural differences in drivers (human or…
A smart vehicle should be able to monitor the actions and behaviors of the human driver to provide critical warnings or intervene when necessary. Recent advancements in deep learning and computer vision have shown great promise in…
This paper presents a safe reinforcement learning system for automated driving that benefits from multimodal future trajectory predictions. We propose a safety system that consists of two safety components: a heuristic safety and a…
Leveraging advanced reasoning capabilities and extensive world knowledge of large language models (LLMs) to construct generative agents for solving complex real-world problems is a major trend. However, LLMs inherently lack embodiment as…
To construct effective teaming strategies between humans and AI systems in complex, risky situations requires an understanding of individual preferences and behaviors of humans. Previously this problem has been treated in case-specific or…
The Driving World Model (DWM), which focuses on predicting scene evolution during the driving process, has emerged as a promising paradigm in the pursuit of autonomous driving (AD). DWMs enable AD systems to better perceive, understand, and…
Imitation learning is a powerful approach for learning autonomous driving policy by leveraging data from expert driver demonstrations. However, driving policies trained via imitation learning that neglect the causal structure of expert…
Misunderstanding of driver correction behaviors (DCB) is the primary reason for false warnings of lane-departure-prediction systems. We propose a learning-based approach to predicting unintended lane-departure behaviors (LDB) and the chance…
Driving World Models (DWMs) have been developing rapidly with the advances of generative models. However, existing DWMs lack 3D scene understanding capabilities and can only generate content conditioned on input data, without the ability to…