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This paper presents the Maximal Compatibility Matching (MCM) framework, a novel assignment strategy for ride-hailing systems that explicitly incorporates passenger comfort into the matching process. Traditional assignment methods prioritize…
LiDAR-based Vehicle-to-Everything (V2X) cooperative perception has demonstrated its impact on the safety and effectiveness of autonomous driving. Since current cooperative perception algorithms are trained and tested on the same dataset,…
Cooperative localization is a promising solution to improve the accuracy and overcome the shortcomings of GNSS. Cooperation is often achieved by measuring the distance between users. To optimally integrate a distance measurement between two…
An increasing amount of location-based service (LBS) data is being accumulated and helps to study urban dynamics and human mobility. GPS coordinates and other location indicators are normally low dimensional and only representing spatial…
Modern navigation systems rely heavily on Global Navigation Satellite Systems (GNSS), whose weak spaceborne signals are vulnerable to jamming, spoofing, and line-of-sight blockage. As an alternative, the Earth's magnetic field entails…
Cooperative localization (CL) enables accurate position estimation in multi-robot systems operating in GPS-denied environments. This paper presents a comparative study of five CL approaches: Centralized Cooperative Localization (CCL),…
This paper presents an approach to tackle the problem of tram localization through utilizing a custom processing of Global Navigation Satellite System (GNSS) observables and the track map. The method is motivated by suboptimal performance…
Accurate localization of other traffic participants is a vital task in autonomous driving systems. State-of-the-art systems employ a combination of sensing modalities such as RGB cameras and LiDARs for localizing traffic participants, but…
Facing the congestion challenges of mixed road networks comprising expressways and arterial road networks, traditional control solutions fall short. To effectively alleviate traffic congestion in mixed road networks, it is crucial to clear…
This paper investigates distributed computing and cooperative control of connected and automated vehicles (CAVs) in ramp merging scenario under transportation cyber-physical system. Firstly, a centralized cooperative trajectory planning…
Sensor-based perception on vehicles are becoming prevalent and important to enhance the road safety. Autonomous driving systems use cameras, LiDAR, and radar to detect surrounding objects, while human-driven vehicles use them to assist the…
Vehicle-to-Everything (V2X) communication has been proposed as a potential solution to improve the robustness and safety of autonomous vehicles by improving coordination and removing the barrier of non-line-of-sight sensing. Cooperative…
Offline map matching involves aligning historical trajectories of mobile objects, which may have positional errors, with digital maps. This is essential for applications in intelligent transportation systems (ITS), such as route analysis…
In recent years, automated driving has become viable, and advanced driver assistance systems (ADAS) are now part of modern cars. These systems require highly precise positioning. In this paper, a cooperative approach to localization is…
Vehicle to Vehicle (V2V) communication has a great potential to improve reaction accuracy of different driver assistance systems in critical driving situations. Cooperative Adaptive Cruise Control (CACC), which is an automated application,…
With the rise of location-based service (LBS) applications that rely on terrestrial and satellite infrastructures (e.g., GNSS and crowd-sourced Wi-Fi, Bluetooth, cellular, and IP databases) for positioning, ensuring their integrity and…
This paper proposes a novel method for vision-based metric cross-view geolocalization (CVGL) that matches the camera images captured from a ground-based vehicle with an aerial image to determine the vehicle's geo-pose. Since aerial images…
In recent years, the rapid development of high-precision map technology combined with artificial intelligence has ushered in a new development opportunity in the field of intelligent vehicles. High-precision map technology is an important…
Connected vehicle (CV) technology is among the most heavily researched areas in both the academia and industry. The vehicle to vehicle (V2V), vehicle to infrastructure (V2I) and vehicle to pedestrian (V2P) communication capabilities enable…
Collaborative Localisation has been studied extensively in recent years as a way to improve pose estimation of unmanned aerial vehicles in challenging environments. However little attention has been paid toward advancing the underlying…