Related papers: On Infusing Reachability-Based Safety Assurance wi…
Although extensive research in emergency collision avoidance has been carried out for straight or curved roads in a highway scenario, a general method that could be implemented for all road environments has not been thoroughly explored.…
Safe and smooth interacting with other vehicles is one of the ultimate goals of driving automation. However, recent reports of demonstrative deployments of automated vehicles (AVs) indicate that AVs are still difficult to meet the…
Accurately predicting the trajectory of surrounding vehicles is a critical challenge for autonomous vehicles. In complex traffic scenarios, there are two significant issues with the current autonomous driving system: the cognitive…
In order for autonomous vehicles to become a part of the Intelligent Transportation Ecosystem, they are required to guarantee a particular level of safety. For that to happen a safe vehicle control algorithms need to be developed, which…
In this work, we propose an approach for ensuring the safety of vehicles passing through an intelligent intersection. There are many proposals for the design of intelligent intersections that introduce central decision-makers to…
Real-world autonomous vehicles often operate in a priori unknown environments. Since most of these systems are safety-critical, it is important to ensure they operate safely in the face of environment uncertainty, such as unseen obstacles.…
Accomplishing safe and efficient driving is one of the predominant challenges in the controller design of connected automated vehicles (CAVs). It is often more convenient to address these goals separately and integrate the resulting…
We present a shared control paradigm that improves a user's ability to operate complex, dynamic systems in potentially dangerous environments without a priori knowledge of the user's objective. In this paradigm, the role of the autonomous…
Collision avoidance requires tradeoffs in planning time horizons. Depending on the planner, safety cannot always be guaranteed in uncertain environments given map updates. To mitigate situations where the planner leads the vehicle into a…
Motivated by earlier work and the developer of a new algorithm, the FollowerStopper, this article uses reachability analysis to verify the safety of the FollowerStopper algorithm, which is a controller designed for dampening stop- and-go…
To maximize safety and driving comfort, autonomous driving systems can benefit from implementing foresighted action choices that take different potential scenario developments into account. While artificial scene prediction methods are…
Achieving safe and robust autonomy is the key bottleneck on the path towards broader adoption of autonomous vehicles technology. This motivates going beyond extrinsic metrics such as miles between disengagement, and calls for approaches…
Road traffic crashes have been the leading cause of death among young people. Most of these accidents occur when the driver becomes distracted due to fatigue or external factors. Vehicle platooning systems such as Cooperative Adaptive…
In this paper, we perform safety and performance analysis of an autonomous vehicle that implements reactive planner and controller for navigating a race lap. Unlike traditional planning algorithms that have access to a map of the…
Despite large advances in recent years, real-time capable motion planning for autonomous road vehicles remains a huge challenge. In this work, we present a decision module that is based on set-based reachability analysis: First, we identify…
Autonomous driving has been the subject of increased interest in recent years both in industry and in academia. Serious efforts are being pursued to address legal, technical and logistical problems and make autonomous cars a viable option…
With the recent surge of interest in introducing autonomous vehicles to the everyday lives of people, developing accurate and generalizable algorithms for predicting human behavior becomes highly crucial. Moreover, many of these emerging…
As vehicle automation technology continues to mature, there is a necessity for robust remote monitoring and intervention features. These are essential for intervening during vehicle malfunctions, challenging road conditions, or in areas…
Hamilton-Jacobi (HJ) reachability-based filtering provides a powerful framework to co-optimize performance and safety (or liveness) for autonomous systems. Under this filtering scheme, a nominal controller is minimally modified to ensure…
While we have made significant algorithmic developments to enable autonomous systems to perform sophisticated tasks, it remains difficult for them to perform tasks effective and safely. Most existing approaches either fail to provide any…