Related papers: Interaction-Aware Trajectory Prediction and Planni…
Understanding the intention of vehicles in the surrounding traffic is crucial for an autonomous vehicle to successfully accomplish its driving tasks in complex traffic scenarios such as highway forced merging. In this paper, we consider a…
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…
Recent research has paid little attention to complex driving behaviors, namely merging car-following and lane-changing behavior, and how lane-changing affects algorithms designed to model and control a car-following vehicle. During the…
We propose an integrated behavior and motion planning framework for the lane-merging problem. The behavior planner combines search-based planning with game theory to model vehicle interactions and plan multi-vehicle trajectories. Inspired…
Enhancing simulation environments to replicate real-world driver behavior, i.e., more humanlike sim agents, is essential for developing autonomous vehicle technology. In the context of highway merging, previous works have studied the…
A major challenge for autonomous vehicles is handling interactive scenarios, such as highway merging, with human-driven vehicles. A better understanding of human interactive behaviour could help address this challenge. Such understanding…
In this paper, we propose an approach how connected and highly automated vehicles can perform cooperative maneuvers such as lane changes and left-turns at urban intersections where they have to deal with human-operated vehicles and…
Motivated by the need to develop simulation tools for verification and validation of autonomous driving systems operating in traffic consisting of both autonomous and human-driven vehicles, we propose a framework for modeling vehicle…
Dense urban traffic environments can produce situations where accurate prediction and dynamic models are insufficient for successful autonomous vehicle motion planning. We investigate how an autonomous agent can safely negotiate with other…
Lane changing and lane merging remains a challenging task for autonomous driving, due to the strong interaction between the controlled vehicle and the uncertain behavior of the surrounding traffic participants. The interaction induces a…
In this paper, we develop an uncertainty-aware decision-making and motion-planning method for an autonomous ego vehicle in forced merging scenarios, considering the motion uncertainty of surrounding vehicles. The method dynamically captures…
Autonomous driving has been the subject of increased interest in recent years both in industry and in academia. Serious efforts are being pursued to address legal, technical and logistical problems and make autonomous cars a viable option…
Safe and reliable autonomy solutions are a critical component of next-generation intelligent transportation systems. Autonomous vehicles in such systems must reason about complex and dynamic driving scenes in real time and anticipate the…
For a foreseeable future, autonomous vehicles (AVs) will operate in traffic together with human-driven vehicles. Their planning and control systems need extensive testing, including early-stage testing in simulations where the interactions…
Traffic interactions between merging and highway vehicles are a major topic of research, yielding many empirical studies and models of driver behaviour. Most of these studies on merging use naturalistic data. Although this provides insight…
Ramp merging is considered as one of the major causes of traffic congestion and accidents because of its chaotic nature. With the development of connected and automated vehicle (CAV) technology, cooperative ramp merging has become one of…
Autonomous agents that drive on roads shared with human drivers must reason about the nuanced interactions among traffic participants. This poses a highly challenging decision making problem since human behavior is influenced by a multitude…
Predicting the future trajectory of a surrounding vehicle in congested traffic is one of the basic abilities of an autonomous vehicle. In congestion, a vehicle's future movement is the result of its interaction with surrounding vehicles. A…
Merging into dense highway traffic for an autonomous vehicle is a complex decision-making task, wherein the vehicle must identify a potential gap and coordinate with surrounding human drivers, each of whom may exhibit diverse driving…
Interactive decision-making is essential in applications such as autonomous driving, where the agent must infer the behavior of nearby human drivers while planning in real-time. Traditional predict-then-act frameworks are often insufficient…