Related papers: An Algorithm for Supervised Driving of Cooperative…
This is a summary paper of a use case of a Robotdog dedicated to guide visually impaired people in complex environment like a smart intersection. In such scenarios, the Robotdog has to autonomously decide whether it is safe to cross the…
The introduction of connected and automated vehicles (CAV) is believed to reduce congestion, enhance safety, and improve traffic efficiency. Numerous research studies have focused on controlling pure CAV platoons in fully connected…
Autonomous Vehicles are currently being tested in a variety of scenarios. As we move towards Autonomous Vehicles, how should intersections look? To answer that question, we break down an intersection management into the different conundrums…
Confined areas present an opportunity for early deployment of autonomous vehicles (AV) due to the absence of non-controlled traffic participants. In this paper, we present an approach for coordination of multiple AVs in confined sites. The…
The connected automated vehicle has been often touted as a technology that will become pervasive in society in the near future. One can view an automated vehicle as having Artificial Intelligence (AI) capabilities, being able to self-drive,…
Trajectory planning of connected and automated vehicles (CAVs) poses significant challenges in a mixed traffic environment due to the presence of human-driven vehicles (HDVs). In this paper, we apply a framework that allows coordination of…
Building effective, enjoyable, and safe autonomous vehicles is a lot harder than has historically been considered. The reason is that, simply put, an autonomous vehicle must interact with human beings. This interaction is not a robotics…
Haptic shared control is used to manage the control authority allocation between a human and an autonomous agent in semi-autonomous driving. Existing haptic shared control schemes, however, do not take full consideration of the human agent.…
For autonomous vehicles to safely share the road with human drivers, autonomous vehicles must abide by specific "road rules" that human drivers have agreed to follow. "Road rules" include rules that drivers are required to follow by law --…
The coordination problem of multi-vehicle systems is of great interests in the area of autonomous driving and multi-vehicle control. This work mainly focuses on multi-task coordination problem of a group of vehicles with a bicycle model and…
When a semi-autonomous car crashes and harms someone, how are blame and causal responsibility distributed across the human and machine drivers? In this article, we consider cases in which a pedestrian was hit and killed by a car being…
In this paper, we present an optimal control framework to address motion coordination of connected automated vehicles (CAVs) in the presence of human-driven vehicles (HDVs) in merging scenarios. Our framework combines an unconstrained…
We address the problem of coordinating online a continuous flow of connected and automated vehicles (CAVs) crossing two adjacent intersections in an urban area. We present a decentralized optimal control framework whose solution yields for…
A unified system integrating a compact object detector and a surrounding environmental condition classifier for enhancing the robustness of object detection scheme in advanced driver assistance systems (ADAS) is proposed in this paper. ADAS…
Shared control allows the human driver to collaborate with an assistive driving system while retaining the ability to make decisions and take control if necessary. However, human-vehicle teaming and planning are challenging due to…
We address the security of a network of Connected and Automated Vehicles (CAVs) cooperating to navigate through a conflict area. Adversarial attacks such as Sybil attacks can cause safety violations resulting in collisions and traffic jams.…
The rapid adoption of autonomous vehicle has established mixed traffic environments, comprising both autonomous and human-driven vehicles (HDVs), as essential components of next-generation mobility systems. Along these lines, connectivity…
Vulnerable road users (VRUs) face high collision risks in mixed traffic, yet most existing safety systems prioritize driver or vehicle assistance over direct VRU support. This paper presents ARCAS, a real-time augmented reality (AR)…
The safety of single-vehicle autonomous driving technology is limited due to the limits of perception capability of on-board sensors. In contrast, vehicle-road collaboration technology can overcome those limits and improve the traffic…
Autonomous driving at intersections is one of the most complicated and accident-prone traffic scenarios, especially with mixed traffic participants such as vehicles, bicycles and pedestrians. The driving policy should make safe decisions to…