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Traffic congestion at intersections is a significant issue in urban areas, leading to increased commute times, safety hazards, and operational inefficiencies. This study aims to develop a predictive model for congestion at intersections in…

With the race towards higher levels of automation in vehicles, it is imperative to guarantee the safety of all involved traffic participants. Yet, while high-risk traffic situations between two vehicles are well understood, traffic…

Modeling dynamics is often the first step to making a vehicle autonomous. While on-road autonomous vehicles have been extensively studied, off-road vehicles pose many challenging modeling problems. An off-road vehicle encounters highly…

This paper studies, for the first time, the trajectory planning problem in adversarial environments, where the objective is to design the trajectory of a robot to reach a desired final state despite the unknown and arbitrary action of an…

Pedestrian's road crossing behaviour is one of the important aspects of urban dynamics that will be affected by the introduction of autonomous vehicles. In this study we introduce DeepSurvival, a novel framework for estimating pedestrian's…

Accurate trajectory prediction of nearby vehicles is crucial for the safe motion planning of automated vehicles in dynamic driving scenarios such as highway merging. Existing methods cannot initiate prediction for a vehicle unless observed…

In recent years, automotive technology has made a steady progress. In particular, Advanced Driver Assistance System (ADAS) has enabled many safety features in commercial vehicles, for instance, pedestrian detection, lane keeping assist,…

Collision avoidance -- involving a rapid threat detection and quick execution of the appropriate evasive maneuver -- is a critical aspect of driving. However, existing models of human collision avoidance behavior are fragmented, focusing on…

This paper develops an optimal acceleration/speed profile for a single autonomous vehicle crossing multiple signalized intersections without stopping in free flow mode. The design objective is to produce both time and energy efficient…

In order to develop provably safe human-in-the-loop systems, accurate and precise models of human behavior must be developed. In the case of intelligent vehicles, one can imagine the need for predicting driver behavior to develop minimally…

In contemporary autonomous driving testing, virtual simulation has become an important approach due to its efficiency and cost effectiveness. However, existing methods usually rely on reinforcement learning to generate risky scenarios,…

Haptic guidance in a shared steering assistance system has drawn significant attention in intelligent vehicle fields, owing to its mutual communication ability for vehicle control. By exerting continuous torque on the steering wheel, both…

Detecting and predicting the behavior of pedestrians is extremely crucial for self-driving vehicles to plan and interact with them safely. Although there have been several research works in this area, it is important to have fast and memory…

When driving,it is vital to maintain the right following distance between the vehicles to avoid rear-end collisions. The minimum safe distance depends on many factors, however, in this study the safe distance between the human-driven…

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…

Bike usage in Smart Cities becomes paramount for sustainable urban development. Cycling provides tremendous opportunities for a more healthy lifestyle, lower energy consumption and carbon emissions as well as reduction of traffic jams.…

Current technologies are unable to produce massively deployable, fully autonomous vehicles that do not require human intervention. Such technological limitations are projected to persist for decades. Therefore, roadway scenarios requiring a…

Walking has always been a primary mode of transportation and is recognized as an essential activity for maintaining good health. Despite the need for safe walking conditions in urban environments, sidewalks are frequently obstructed by…

E-scooters are becoming a popular means of urban transportation. However, this increased popularity brings challenges, such as road accidents and conflicts when sharing space with traditional transport modes. An in-depth understanding of…

This article presents a holistic approach for probabilistic cyclist intention detection. A basic movement detection based on motion history images (MHI) and a residual convolutional neural network (ResNet) are used to estimate probabilities…