Related papers: Design Space of Behaviour Planning for Autonomous …
Autonomous vehicles have the potential to increase the capacity of roads via platooning, even when human drivers and autonomous vehicles share roads. However, when users of a road network choose their routes selfishly, the resulting traffic…
Specifying the intended behaviour of autonomous systems is becoming increasingly important but is fraught with many challenges. This technical report provides an overview of existing work on specifications of autonomous systems and places a…
Automated driving system - dedicated vehicles (ADS-DVs), specially designed for people with various disabilities, can be beneficial to improve their mobility. However, research related to autonomous vehicles (AVs) for people with cognitive…
Planning is an essential topic in the realm of automated driving. Besides planning algorithms that are widely covered in the literature, planning requires different software tools for its development, validation, and execution. This paper…
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…
Autonomous vehicles require highly sophisticated decision-making to determine their motion. This paper describes how such functionality can be achieved with a practical rule engine learned from expert driving decisions. We propose an…
Forecasting the scalable future states of surrounding traffic participants in complex traffic scenarios is a critical capability for autonomous vehicles, as it enables safe and feasible decision-making. Recent successes in learning-based…
With recent advances in learning algorithms and hardware development, autonomous cars have shown promise when operating in structured environments under good driving conditions. However, for complex, cluttered and unseen environments with…
Design optimizations in human-AI collaboration often focus on cognitive aspects like attention and task load. Drawing on work design literature, we propose that effective human-AI collaboration requires broader consideration of human needs…
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…
In normal on-road situations, autonomous vehicles will be expected to have smooth trajectories with relatively little demand on the vehicle dynamics to ensure passenger comfort and driving safety. However, the occurrence of unexpected…
This paper proposes a fast and accurate trajectory planning algorithm for autonomous parking. Nominally, an optimal control problem should be formulated to describe this scheme, but the dimensionality of the optimal control problem is…
Small-scale autonomous vehicle platforms provide a cost-effective environment for developing and testing advanced driving systems. However, specific configurations within this scale are underrepresented, limiting full awareness of their…
Motion planning in uncertain environments like complex urban areas is a key challenge for autonomous vehicles (AVs). The aim of our research is to investigate how AVs can navigate crowded, unpredictable scenarios with multiple pedestrians…
We consider the problem of designing agents able to compute optimal decisions by composing data from multiple sources to tackle tasks involving: (i) tracking a desired behavior while minimizing an agent-specific cost; (ii) satisfying safety…
End-to-end style autonomous driving models have been developed recently. These models lack interpretability of decision-making process from perception to control of the ego vehicle, resulting in anxiety for passengers. To alleviate it, it…
This paper investigates the longitudinal control problem in a dynamic traffic environment where driving scenarios change between free-driving scenarios and car-following scenarios. A comprehensive longitudinal controller is proposed to…
In this position paper, we present a collection of four different prototyping approaches which we have developed and applied to prototype and evaluate interfaces for and interactions around autonomous physical systems. Further, we provide a…
In the path planning problem of autonomous application, the existing studies separately consider the path planning and trajectory tracking control of the autonomous vehicle and few of them have integrated the trajectory planning and…
In this paper we will explore different available methodologies to automatically design controllers for tasks that spans many level of abstraction, where the gap between primitive behaviours and the task definition is high. A good…