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Increased interaction between and among pedestrians and vehicles in the crowded urban environments of today gives rise to a negative side-effect: a growth in traffic accidents, with pedestrians being the most vulnerable elements. Recent…
Understanding human driving behavior is important for autonomous vehicles. In this paper, we propose an interpretable human behavior model in interactive driving scenarios based on the cumulative prospect theory (CPT). As a non-expected…
Autonomous vehicles must negotiate with pedestrians in ways that are both safe and socially compliant. We present an interaction-aware model predictive decision-making (IAMPDM) framework that integrates a gap-acceptance-inspired intention…
This paper proposes collision-free optimal trajectory planning for autonomous vehicles in highway traffic, where vehicles need to deal with the interaction among each other. To address this issue, a novel optimal control framework is…
Predicting human mobility patterns has many practical applications in urban planning, traffic engineering, infectious disease epidemiology, emergency management and location-based services. Developing a universal model capable of accurately…
We consider the problem of interaction-aware motion planning for automated vehicles in general traffic situations. We model the interaction between the controlled vehicle and surrounding road users using a generalized potential game, in…
In this article, we propose an optimization-based integrated behavior planning and motion control scheme, which is an interpretable and adaptable urban autonomous driving solution that complies with complex traffic rules while ensuring…
As autonomous systems begin to operate amongst humans, methods for safe interaction must be investigated. We consider an example of a small autonomous vehicle in a pedestrian zone that must safely maneuver around people in a free-form…
National Highway Traffic Safety Administration reported 7,345 pedestrian fatalities in the United States in 2022, making pedestrian safety a pressing issue in urban mobility. This study presents a novel probabilistic simulation framework…
The Gipps car-following model is a widely used tool for studying and simulation traffic dynamics. Despite its popularity an often disregarded property is that under heterogeneous parametrization on the individual vehicles in the traffic…
In our urbanised societies, the management and regulation of traffic and pedestrian flows is of considerable interest for public safety, economic development, and the conservation of the environment. However, modelling and controlling the…
Traffic Intersections are vital to urban road networks as they regulate the movement of people and goods. However, they are regions of conflicting trajectories and are prone to accidents. Deep Generative models of traffic dynamics at…
Autonomous vehicles use a variety of sensors and machine-learned models to predict the behavior of surrounding road users. Most of the machine-learned models in the literature focus on quantitative error metrics like the root mean square…
This paper addresses the problem of human-based driver support. Nowadays, driver support systems help users to operate safely in many driving situations. Nevertheless, these systems do not fully use the rich information that is available…
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…
Developments in autonomous vehicles (AVs) are rapidly advancing and will in the next 20 years become a central part to our society. However, especially in the early stages of deployment, there is expected to be incidents involving AVs. In…
Dense pedestrian crowds may pose significant safety risks, yet their underlying dynamics remain insufficiently understood to reliably prevent accidents. In these environments, physical interactions and contact forces fundamentally shape the…
With the recently increasing capabilities of modern vehicles, novel approaches for interaction emerged that go beyond traditional touch-based and voice command approaches. Therefore, hand gestures, head pose, eye gaze, and speech have been…
This paper examines the optimal velocity follow-the-leader dynamics, a microscopic traffic model, and explores different aspects of the dynamical model, with particular emphasis on collision analysis. More precisely, we present a rigorous…
Autonomous Vehicle decisions rely on multimodal prediction models that account for multiple route options and the inherent uncertainty in human behavior. However, models can suffer from mode collapse, where only the most likely mode is…