Related papers: Gap Acceptance During Lane Changes by Large-Truck …
This paper proposes an Adaptive Robust Model Predictive Control strategy for lateral control in lane keeping problems, where we continuously learn an unknown, but constant steering angle offset present in the steering system. Longitudinal…
Lane detection, the process of identifying lane markings as approximated curves, is widely used for lane departure warning and adaptive cruise control in autonomous vehicles. The popular pipeline that solves it in two steps -- feature…
Accurate multi-vehicle trajectory prediction in expressway merge and diverge areas is fundamental to the decision-making frameworks of autonomous vehicle systems. However, the majority of existing graph-based prediction models are developed…
We introduce a prioritized system-optimal algorithm for mandatory lane change (MLC) behavior of connected and automated vehicles (CAV) from a dedicated lane. Our approach applies a cooperative lane change that prioritizes the decisions of…
Lane changing is one of the most common maneuvers on motorways. Although, macroscopic traffic models are well known for their suitability to describe fast moving crowded traffic, most of these models are generally developed in one…
Forecasting the long-term future motion of road actors is a core challenge to the deployment of safe autonomous vehicles (AVs). Viable solutions must account for both the static geometric context, such as road lanes, and dynamic social…
In this paper we study dependencies of fundamental diagrams, time gap distributions, and velocity-distance relations on vehicle types, lanes and/or measurement sites. We also propose measurement and aggregation methods that have more…
We derive optimal control policies for a Connected Automated Vehicle (CAV) and cooperating neighboring CAVs to carry out a lane change maneuver consisting of a longitudinal phase where the CAV properly positions itself relative to the…
An automated driving system should have the ability to supervise its own performance and to request human driver to take over when necessary. In the lane keeping scenario, the prediction of vehicle future trajectory is the key to realize…
Gap-closing rate and visual looming swap discriminative dominance depending on deceleration intensity - a finding that reconciles a long-standing conflict in the car-following literature and challenges spacing-centered assumptions in…
Listeners use short interjections, so-called backchannels, to signify attention or express agreement. The automatic analysis of this behavior is of key importance for human conversation analysis and interactive conversational agents.…
Intersection scenarios provide the most complex traffic situations in Autonomous Driving and Driving Assistance Systems. Knowing where to stop in advance in an intersection is an essential parameter in controlling the longitudinal velocity…
The reliable operation of autonomous vehicles, automated driving functions, and advanced driver assistance systems across a wide range of relevant scenarios is critical for their development and deployment. Identifying a near-complete set…
Evaluating the effectiveness and benefits of driver assistance systems is essential for improving the system performance. In this paper, we propose an efficient evaluation method for a semi-autonomous lane departure correction system. To…
Advances in machine learning algorithms for sensor fusion have significantly improved the detection and prediction of other road users, thereby enhancing safety. However, even a small angular displacement in the sensor's placement can cause…
Lane graph estimation is an essential and highly challenging task in automated driving and HD map learning. Existing methods using either onboard or aerial imagery struggle with complex lane topologies, out-of-distribution scenarios, or…
Vehicles of higher automation levels require the creation of situation awareness. One important aspect of this situation awareness is an understanding of the current risk of a driving situation. In this work, we present a novel approach for…
Monitoring the dynamics of traffic in major corridors can provide invaluable insight for traffic planning purposes. An important requirement for this monitoring is the availability of methods to automatically detect major traffic events and…
Managed lanes, such as a dedicated lane for connected and automated vehicles (CAVs), can provide not only technological accommodation but also desired market incentives for road users to adopt CAVs in the near future. In this paper, we…
Lane change is a crucial vehicle maneuver which needs coordination with surrounding vehicles. Automated lane changing functions built on rule-based models may perform well under pre-defined operating conditions, but they may be prone to…