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Monitoring drivers' mental workload facilitates initiating and maintaining safe interactions with in-vehicle information systems, and thus delivers adaptive human machine interaction with reduced impact on the primary task of driving. In…
Trajectory planning is essential for ensuring safe driving in the face of uncertainties related to communication, sensing, and dynamic factors such as weather, road conditions, policies, and other road users. Existing car-following models…
One of the major challenges that autonomous cars are facing today is driving in urban environments. To make it a reality, autonomous vehicles require the ability to communicate with other road users and understand their intentions. Such…
The adoption of self-driving cars will certainly revolutionize our lives, even though they may take more time to become fully autonomous than initially predicted. The first vehicles are already present in certain cities of the world, as…
Autonomous driving decision-making is a challenging task due to the inherent complexity and uncertainty in traffic. For example, adjacent vehicles may change their lane or overtake at any time to pass a slow vehicle or to help traffic flow.…
Learning-based approaches have achieved remarkable performance in the domain of autonomous driving. Leveraging the impressive ability of neural networks and large amounts of human driving data, complex patterns and rules of driving behavior…
Autonomous vehicles (AVs) require adaptive behavior planners to navigate unpredictable, real-world environments safely. Traditional behavior trees (BTs) offer structured decision logic but are inherently static and demand labor-intensive…
Interaction between the background vehicles (BVs) and automated vehicles (AVs) in scenario-based testing plays a critical role in evaluating the intelligence of the AVs. Current testing scenarios typically employ predefined or scripted BVs,…
Weaving ramps are critical bottlenecks in highway networks due to conflicting traffic flows and complex interactions among heterogeneous vehicle types. In mixed-autonomy settings, the presence of controllable autonomous vehicles (AVs)…
We propose a novel framework to differentiate between vehicle trajectories originating from human and non-human drivers by constructing a data-driven boundary using parametric signal temporal logic (STL). Such construction allows us to…
Autonomous agents that drive on roads shared with human drivers must reason about the nuanced interactions among traffic participants. This poses a highly challenging decision making problem since human behavior is influenced by a multitude…
Performance evaluation of urban autonomous vehicles requires a realistic model of the behavior of other road users in the environment. Learning such models from data involves collecting naturalistic data of real-world human behavior. In…
Pedestrians are arguably one of the most safety-critical road users to consider for autonomous vehicles in urban areas. In this paper, we address the problem of jointly detecting pedestrians and recognizing 32 pedestrian attributes from a…
Accurately modeling the behavior of traffic participants is essential for safely and efficiently navigating an autonomous vehicle through heavy traffic. We propose a method, based on the intelligent driver model, that allows us to…
Hidden Markov models (HMMs) and partially observable Markov decision processes (POMDPs) form a useful tool for modeling dynamical systems. They are particularly useful for representing environments such as road networks and office…
Effective driving style analysis is critical to developing human-centered intelligent driving systems that consider drivers' preferences. However, the approaches and conclusions of most related studies are diverse and inconsistent because…
A critical aspect of safe and efficient motion planning for autonomous vehicles (AVs) is to handle the complex and uncertain behavior of surrounding human-driven vehicles (HDVs). Despite intensive research on driver behavior prediction,…
Understanding the intentions of drivers at intersections is a critical component for autonomous vehicles. Urban intersections that do not have traffic signals are a common epicentre of highly variable vehicle movement and interactions. We…
Musculoskeletal robots that are based on pneumatic actuation have a variety of properties, such as compliance and back-drivability, that render them particularly appealing for human-robot collaboration. However, programming interactive and…
In mixed-traffic environments, autonomous vehicles (AVs) must interact with heterogeneous human-driven vehicles (HVs) whose intentions and driving styles vary across individuals and scenarios. Such variability introduces uncertainty into…