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As the potential for autonomous vehicles to be integrated on a large scale into modern traffic systems continues to grow, ensuring safe navigation in dynamic environments is crucial for smooth integration. To guarantee safety and prevent…
Challenged by urbanization and increasing travel needs, existing transportation systems need new mobility paradigms. In this article, we present the emerging concept of autonomous mobility-on-demand, whereby centrally orchestrated fleets of…
A significant amount of our daily lives is dedicated to driving, leading to an unavoidable exposure to driving-related stress. The rise of autonomous vehicles will likely lessen the extent of this stress and enhance the routine traveling…
The paper addresses the problem of providing suitable reference trajectories in motion planning problems for autonomous vehicles. Among the various approaches to compute a reference trajectory, our aim is to find those trajectories which…
To plan a safe and efficient route, an autonomous vehicle should anticipate future trajectories of other agents around it. Trajectory prediction is an extremely challenging task which recently gained a lot of attention in the autonomous…
The motion planners used in self-driving vehicles need to generate trajectories that are safe, comfortable, and obey the traffic rules. This is usually achieved by two modules: behavior planner, which handles high-level decisions and…
The Institute of Measurement, Control and Microtechnology at Ulm University investigates advanced driver assistance systems for decades and concentrates in large parts on autonomous driving. It is well known that motion planning is a key…
Self-driving vehicles rely on sensory input to monitor their surroundings and continuously adapt to the most likely future road course. Predictive trajectory planning is based on snapshots of the (uncertain) road course as a key input.…
Quantifying and encoding occupants' preferences as an objective function for the tactical decision making of autonomous vehicles is a challenging task. This paper presents a low-complexity approach for lane-change initiation and planning to…
We explore the complex design space of behaviour planning for autonomous driving. Design choices that successfully address one aspect of behaviour planning can critically constrain others. To aid the design process, in this work we…
Autonomy and connectivity are considered among the most promising technologies to improve safety, mobility, fuel and time consumption in transportation systems. Some of the fuel efficiency benefits of connected and automated vehicles (CAVs)…
Autonomous driving technologies are expected to not only improve mobility and road safety but also bring energy efficiency benefits. In the foreseeable future, autonomous vehicles (AVs) will operate on roads shared with human-driven…
In safety-critical RL settings, the inclusion of an additional cost function is often favoured over the arduous task of modifying the reward function to ensure the agent's safe behaviour. However, designing or evaluating such a cost…
With their potential to significantly reduce traffic accidents, enhance road safety, optimize traffic flow, and decrease congestion, autonomous driving systems are a major focus of research and development in recent years. Beyond these…
Trajectory planning is challenging for autonomous cars since they operate in unpredictable environments with limited sensor horizons. To incorporate new information as it is sensed, planning is done in a loop, with the next plan being…
Motion Sickness (MS) is an issue of most transportation systems. Several countermeasures for such problem in cars are proposed in the literature, but most of them are qualitative, behavioural or involving complex chassis systems. With the…
When using a conventional passenger car, several groups of people are reliant on the assistance of an accompanying person, for example when getting in and out of the car. For the independent use of an automatically driving vehicle by those…
Autonomous mobility on demand systems, though still in their infancy, have very promising prospects in providing urban population with sustainable and safe personal mobility in the near future. While much research has been conducted on both…
The accurate evaluation of the quality of driving behavior is crucial for optimizing and implementing autonomous driving technology in practice. However, there is no comprehensive understanding of good driving behaviors currently. In this…
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…