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In this paper, a cooperative decision-making is presented, which is suitable for intention-aware automated vehicle functions. With an increasing number of highly automated and autonomous vehicles on public roads, trust is a very important…
Cooperative driving relies on communication among vehicles to create situational awareness. One application of cooperative driving is Cooperative Adaptive Cruise Control (CACC) that aims at enhancing highway transportation safety and…
Accurate and robust recognition and prediction of traffic situation plays an important role in autonomous driving, which is a prerequisite for risk assessment and effective decision making. Although there exist a lot of works dealing with…
Interactions between vehicles and pedestrians have always been a major problem in traffic safety. Experienced human drivers are able to analyze the environment and choose driving strategies that will help them avoid crashes. What is not yet…
A better understanding of interactive pedestrian behavior in critical traffic situations is essential for the development of enhanced pedestrian safety systems. Real-world traffic observations play a decisive role in this, since they…
We consider a transportation system of heterogeneously connected vehicles, where not all vehicles are able to communicate. Heterogeneous connectivity in transportation systems is coupled to practical constraints such that (i) not all…
Traditional planning and control methods could fail to find a feasible trajectory for an autonomous vehicle to execute amongst dense traffic on roads. This is because the obstacle-free volume in spacetime is very small in these scenarios…
We present a new method for multi-modal, long-term vehicle trajectory prediction. Our approach relies on using lane centerlines captured in rich maps of the environment to generate a set of proposed goal paths for each vehicle. Using these…
Traffic simulators are widely used to study the operational efficiency of road infrastructure, but their rule-based approach limits their ability to mimic real-world driving behavior. Traffic intersections are critical components of the…
Cooperative driving using connectivity services has been a promising avenue for autonomous vehicles, with the low latency and further reliability support provided by 5th Generation Mobile Network (5G). In this paper, we present an…
We propose a microscopic traffic model where the update velocity is determined by the deceleration capacity and response time. It is found that there is a class of collisions that cannot be distinguished by simply comparing the stop…
In the context of autonomous driving on expressways, the issue of ensuring safe and efficient ramp merging remains a significant challenge. Existing systems often struggle to accurately assess the status and intentions of other vehicles,…
Road congestion in urban environments, especially near signalized intersections, has been a major cause of significant fuel and time waste. Various solutions have been proposed to solve the problem of increasing idling times and number of…
Short-term future of automated driving can be imagined as a hybrid scenario in which both automated and human-driven vehicles co-exist in the same environment. In order to address the needs of such road configuration, many technology…
In this paper we propose a distributed model predictive control architecture to coordinate the longitudinal motion of a vehicle platoon at a signalized intersection. Our control approach is cooperative; we use vehicle-to-vehicle (V2V)…
Precise modeling of microscopic vehicle trajectories is critical for traffic behavior analysis and autonomous driving systems. We propose Ctx2TrajGen, a context-aware trajectory generation framework that synthesizes realistic urban driving…
Cooperative coordination at unsignalized road intersections, which aims to improve the driving safety and traffic throughput for connected and automated vehicles, has attracted increasing interests in recent years. However, most existing…
In the field of autonomous driving research, the use of immersive virtual reality (VR) techniques is widespread to enable a variety of studies under safe and controlled conditions. However, this methodology is only valid and consistent if…
Estimating and understanding the current scene is an inevitable capability of automated vehicles. Usually, maps are used as prior for interpreting sensor measurements in order to drive safely and comfortably. Only few approaches take into…
This study attempts to investigate the relationship between crash occurrence at signalized intersections and real-time traffic, signal timing, and weather characteristics based on 23 signalized intersections in Central Florida. The…