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Autonomous vehicles are slowly becoming reality thanks to the efforts of many academic and industrial organizations. Due to the complexity of the software powering these systems and the dynamicity of the development processes, an…
Recently, numerous studies have investigated cooperative traffic systems using the communication among vehicle-to-everything (V2X). Unfortunately, when multiple autonomous vehicles are deployed while exposed to communication failure, there…
In the realm of autonomous driving, the development and integration of highly complex and heterogeneous systems are standard practice. Modern vehicles are not monolithic systems; instead, they are composed of diverse hardware components,…
Reinforcement Learning (RL) has emerged as a transformative approach in the domains of automation and robotics, offering powerful solutions to complex problems that conventional methods struggle to address. In scenarios where the problem…
We describe the computing tasks involved in autonomous driving, examine existing autonomous driving computing platform implementations. To enable autonomous driving, the computing stack needs to simultaneously provide high performance, low…
This paper presents the design of a research platform for autonomous driving applications, the Delft's Autonomous-driving Robotic Testbed (DART). Our goal was to design a small-scale car-like robot equipped with all the hardware needed for…
AutoDRIVE is envisioned to be a comprehensive research platform for scaled autonomous vehicles. This work is a stepping-stone towards the greater goal of realizing such a research platform. Particularly, this work proposes a…
Autonomous driving is a safety critical application of sensing and decision-making technologies. Communication technologies extend the awareness capabilities of vehicles, beyond what is achievable with the on-board systems only.…
Scientific development often takes place in the context of research projects carried out by dedicated students during their time at university. In the field of self-driving software research, the Formula Student Driverless competitions are…
The field of autonomous driving has grown tremendously over the past few years, along with the rapid progress in sensor technology. One of the major purposes of using sensors is to provide environment perception for vehicle understanding,…
Driven by growing concerns over air quality and energy security, electric vehicles (EVs) has experienced rapid development and are reshaping global transportation systems and lifestyle patterns. Compared to traditional gasoline-powered…
Localization for autonomous vehicles on highways remains under-explored compared to urban roads, and state-of-the-art methods for urban scenes degrade when directly applied to highways. We identify key challenges including environment…
This paper presents a functional system architecture for an automated vehicle. It provides an overall, generic structure that is independent of a specific implementation of a particular vehicle project. Yet, it has been inspired and…
The advancement of vehicle automation and the growing adoption of electric vehicles (EVs) are reshaping transportation systems. While fully automated vehicles are expected to improve traffic stability, efficiency, and sustainability, recent…
Self-driving vehicles have the potential to reduce accidents and fatalities on the road. Many production vehicles already come equipped with basic self-driving capabilities, but have trouble following lanes in adverse lighting and weather…
In recent years, the number and importance of autonomous racing leagues, and consequently the number of studies on them, has been growing. The seamless integration between different series has gained attention due to the scene's diversity.…
The SAE AutoDrive Challenge is a three-year competition to develop a Level 4 autonomous vehicle by 2020. The first set of challenges were held in April of 2018 in Yuma, Arizona. Our team (aUToronto/Zeus) placed first. In this paper, we…
Autonomous vehicles have been actively investigated over the past few decades. Several recent works show the potential of autonomous vehicles in urban environments with impressive experimental results. However, these works note that…
Success in racing requires a unique combination of vehicle setup, understanding of the racetrack, and human expertise. Since building and testing many different vehicle configurations in the real world is prohibitively expensive,…
Nowadays, there are outstanding strides towards a future with autonomous vehicles on our roads. While the perception of autonomous vehicles performs well under closed-set conditions, they still struggle to handle the unexpected. This survey…