Related papers: Pedestrian Collision Avoidance System for Scenario…
Autonomous vehicles (AV) look set to become common on our roads within the next few years. However, to achieve the final breakthrough, not only functional progress is required, but also satisfactory safety assurance must be provided. Among…
In the dense fabric of urban areas, electric scooters have rapidly become a preferred mode of transportation. As they cater to modern mobility demands, they present significant safety challenges, especially when interacting with…
This work addresses the task of risk evaluation in traffic scenarios with limited observability due to restricted sensorial coverage. Here, we concentrate on intersection scenarios that are difficult to access visually. To identify the area…
In this paper, we provide a theoretical framework for the coordination of connected and automated vehicles (CAVs) at signal-free intersections, accounting for the unexpected presence of pedestrians. First, we introduce a general…
The paper presents a vision-based obstacle avoidance strategy for lightweight self-driving cars that can be run on a CPU-only device using a single RGB-D camera. The method consists of two steps: visual perception and path planning. The…
Overtaking is one of the most challenging tasks in driving, and the current solutions to autonomous overtaking are limited to simple and static scenarios. In this paper, we present a method for behaviour and trajectory planning for safe…
Adverse weather conditions and occlusions in urban environments result in impaired perception. The uncertainties are handled in different modules of an automated vehicle, ranging from sensor level over situation prediction until motion…
This paper presents a comprehensive hazard analysis, risk assessment, and loss evaluation for an Evasive Minimum Risk Maneuvering (EMRM) system designed for autonomous vehicles. The EMRM system is engineered to enhance collision avoidance…
With the rapidly growing interest in autonomous navigation, the body of research on motion planning and collision avoidance techniques has enjoyed an accelerating rate of novel proposals and developments. However, the complexity of new…
The full deployment of autonomous driving systems on a worldwide scale requires that the self-driving vehicle be operated in a provably safe manner, i.e., the vehicle must be able to avoid collisions in any possible traffic situation. In…
The level of autonomous functions in vehicular control systems has been on a steady rise. This rise makes it more challenging for control system engineers to ensure a high level of safety, especially against unexpected failures such as…
Autonomous Valet Parking (AVP) requires planning under partial observability, where parking spot availability evolves as dynamic agents enter and exit spots. Existing approaches either rely only on instantaneous spot availability or make…
While recent developments in autonomous vehicle (AV) technology highlight substantial progress, we lack tools for rigorous and scalable testing. Real-world testing, the $\textit{de facto}$ evaluation environment, places the public in…
There are different proposals in the literature on how to protect pedestrians using warning systems to alert drivers of their presence. They can be based on onboard perception systems or wireless communications. The evaluation of these…
The majority of research on safety in autonomous vehicles has been conducted in structured and controlled environments. However, there is a scarcity of research on safety in unregulated pedestrian areas, especially when interacting with…
In shared autonomy, a user and autonomous system work together to achieve shared goals. To collaborate effectively, the autonomous system must know the user's goal. As such, most prior works follow a predict-then-act model, first predicting…
In order to operate safely on the road, autonomous vehicles need not only to be able to identify objects in front of them, but also to be able to estimate the risk level of the object in front of the vehicle automatically. It is obvious…
With the increasing need for safe control in the domain of autonomous driving, model-based safety-critical control approaches are widely used, especially Control Barrier Function (CBF)-based approaches. Among them, Exponential CBF (eCBF) is…
Traffic accidents are a threat to human lives, particularly pedestrians causing premature deaths. Therefore, it is necessary to devise systems to prevent accidents in advance and respond proactively, using potential risky situations as one…
In this paper, we present an Efficient Planning System for automated vehicles In highLy interactive envirONments (EPSILON). EPSILON is an efficient interaction-aware planning system for automated driving, and is extensively validated in…