Related papers: Online monitoring for safe pedestrian-vehicle inte…
Road intersections are widely recognized as a lead cause for accidents and traffic delays. In a future scenario with a significant adoption of Cooperative Autonomous Vehicles, solutions based on fully automatic, signage-less Intersection…
The growing use of robots in urban environments has raised concerns about potential safety hazards, especially in public spaces where humans and robots may interact. In this paper, we present a system for safe human-robot interaction that…
We present a novel method for testing the safety of self-driving vehicles in simulation. We propose an alternative to sensor simulation, as sensor simulation is expensive and has large domain gaps. Instead, we directly simulate the outputs…
The sudden appearance of occluded pedestrians presents a critical safety challenge in autonomous driving. Conventional rule-based or purely data-driven approaches struggle with the inherent high uncertainty of these long-tail scenarios. To…
Pedestrian intention prediction needs to be accurate for autonomous vehicles to navigate safely in urban environments. We present a lightweight, socially informed architecture for pedestrian intention prediction. It fuses four behavioral…
Currently, we are in an environment where the fraction of automated vehicles is negligibly small. We anticipate that this fraction will increase in coming decades before if ever, we have a fully automated transportation system. Motivated by…
Both humans and the sensors on an autonomous vehicle have limited sensing capabilities. When these limitations coincide with scenarios involving vulnerable road users, it becomes important to account for these limitations in the motion…
In shared spaces, motorized and non-motorized road users share the same space with equal priority. Their movements are not regulated by traffic rules, hence they interact more frequently to negotiate priority over the shared space. To…
It is critical for vehicles to prevent any collisions with pedestrians. Current methods for pedestrian collision prevention focus on integrating visual pedestrian detectors with Automatic Emergency Braking (AEB) systems which can trigger…
Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…
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…
We present a Pedestrian Dominance Model (PDM) to identify the dominance characteristics of pedestrians for robot navigation. Through a perception study on a simulated dataset of pedestrians, PDM models the perceived dominance levels of…
Safety assurance is a critical yet challenging aspect when developing self-driving technologies. Hamilton-Jacobi backward-reachability analysis is a formal verification tool for verifying the safety of dynamic systems in the presence of…
Pedestrian behavior prediction is one of the major challenges for intelligent driving systems in urban environments. Pedestrians often exhibit a wide range of behaviors and adequate interpretations of those depend on various sources of…
Both assistant driving and self-driving have attracted a great amount of attention in the last few years. However, the majority of research efforts focus on safe driving; few research has been conducted on in-vehicle climate control, or…
In recent times, the research works relating to smart traffic infrastructure have gained serious attention. As a result, research has been carried out in multiple directions to ensure that such infrastructure can improve upon our existing…
A significant portion of driving hazards is caused by human error and disregard for local driving regulations; Consequently, an intelligent assistance system can be beneficial. This paper proposes a novel vision-based modular package to…
Autonomous vehicles are continually increasing their presence on public roads. However, before any new autonomous driving software can be approved, it must first undergo a rigorous assessment of driving quality. These quality evaluations…
One of the objectives of the pedestrian analysis is to evaluate the effects of proposed policy on the pedestrian facilities before its implementation. The implementation of a policy without pedestrian analysis might lead to a very costly…
A measure of privacy infringement for agents (or participants) travelling across a transportation network in participatory-sensing schemes for traffic estimation is introduced. The measure is defined to be the conditional probability that…