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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…
Understanding human driving behavior is crucial to develop autonomous vehicles' algorithms. However, most low level automation, such as the one in advanced driving assistance systems (ADAS), is based on objective safety measures, which are…
It has been suggested that autonomous vehicles can improve efficiency and safety of the transportation systems. While research in this area often focuses on autonomous vehicles which operate on roads, the deployment of low-speed, autonomous…
A trust-aware safe control system for autonomous navigation in the presence of humans, specifically pedestrians, is presented. The system combines model predictive control (MPC) with control barrier functions (CBFs) and trust estimation to…
One of the major challenges that autonomous cars are facing today is driving in urban environments. To make it a reality, autonomous vehicles require the ability to communicate with other road users and understand their intentions. Such…
As autonomous vehicles (AVs) inch closer to reality, a central requirement for acceptance will be earning the trust of humans in everyday driving situations. In particular, the interaction between AVs and pedestrians is of high importance,…
This article deals with the specific context of an autonomous car navigating in an urban center within a shared space between pedestrians and cars. The driver delegates the control to the autonomous system while remaining seated in the…
Technological advancements focus on developing comfortable and acceptable driving characteristics in autonomous vehicles. Present driving functions predominantly possess predefined parameters, and there is no universally accepted driving…
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…
Pedestrians' safety is a crucial factor in assessing autonomous driving scenarios. However, pedestrian safety evaluation is rarely considered by existing autonomous driving simulation platforms. This paper proposes a pedestrian safety…
For an autonomous vehicle, situation understand-ing is a key capability towards safe and comfortable decision-making and navigation. Information is in general provided bymultiple sources. Prior information about the road topology andtraffic…
Autonomous driving improves traffic efficiency but presents safety challenges in complex port environments. This study investigates how environmental factors, traffic factors, and pedestrian characteristics influence interaction safety…
This paper introduces a novel approach that seeks a middle ground for traffic control in multi-lane congestion, where prevailing traffic speeds are too fast, and speed recommendations designed to dampen traffic waves are too slow. Advanced…
Autonomous driving vehicles provide a vast potential for realizing use cases in the on-road and off-road domains. Consequently, remarkable solutions exist to autonomous systems' environmental perception and control. Nevertheless, proof of…
Autonomous vehicles (AVs) must share space with pedestrians, both in carriageway cases such as cars at pedestrian crossings and off-carriageway cases such as delivery vehicles navigating through crowds on pedestrianized high-streets. Unlike…
Automated vehicles require a comprehensive understanding of traffic situations to ensure safe and anticipatory driving. In this context, the prediction of pedestrians is particularly challenging as pedestrian behavior can be influenced by…
One of the main challenges in developing autonomous transport systems based on connected and automated vehicles is the comprehension and understanding of the environment around each vehicle. In many situations, the understanding is limited…
No human drives a car in a vacuum; she/he must negotiate with other road users to achieve their goals in social traffic scenes. A rational human driver can interact with other road users in a socially-compatible way through implicit…
Autonomous vehicles (AVs) must share space with pedestrians, both in carriageway cases such as cars at pedestrian crossings and off-carriageway cases such as delivery vehicles navigating through crowds on pedestrianized high-streets. Unlike…
Autonomous cars can perform poorly for many reasons. They may have perception issues, incorrect dynamics models, be unaware of obscure rules of human traffic systems, or follow certain rules too conservatively. Regardless of the exact…