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Diffusion models have made substantial progress in facilitating image generation and editing. As the technology matures, we see its potential in the context of driving simulations to enhance the simulated experience. In this paper, we…
Testing autonomous driving algorithms on real autonomous vehicles is extremely costly and many researchers and developers in the field cannot afford a real car and the corresponding sensors. Although several free and open-source autonomous…
In vehicle dynamics control, many variables of interest cannot be directly measured, as sensors might be costly, fragile, or even not available. Therefore, real-time estimation techniques need to be used. The previous approach suffers from…
It is important to build a rigorous verification and validation (V&V) process to evaluate the safety of highly automated vehicles (HAVs) before their wide deployment on public roads. In this paper, we propose an interaction-aware framework…
Variability in human response creates non-trivial challenges for modeling and control of human-automation systems. As autonomy becomes pervasive, methods that can accommodate human variability will become paramount, to ensure efficiency,…
In this paper, we introduce the first learning-based planner to drive a car in dense, urban traffic using Inverse Reinforcement Learning (IRL). Our planner, DriveIRL, generates a diverse set of trajectory proposals, filters these…
Physical touch, a fundamental aspect of human social interaction, remains largely absent in real-time virtual communication. We present a haptic-enabled multi-user Virtual Reality (VR) system that facilitates real-time, bi-directional…
Rear-end collisions constituted a large portion of crashes on the road, despite efforts to mitigate rear-end collisions, such as forward collision warnings. The chance of rear-end collisions is closely related to drivers' car-following (CF)…
High-speed cruising scenarios with mixed traffic greatly challenge the road safety of autonomous vehicles (AVs). Unlike existing works that only look at fundamental modules in isolation, this work enhances AV safety in mixed-traffic…
This work addresses whether a human-in-the-loop cyber-physical system (HCPS) can be effective in improving the longitudinal control of an individual vehicle in a traffic flow. We introduce the CAN Coach, which is a system that gives…
Due to the limited smartness and abilities of machine intelligence, currently autonomous vehicles are still unable to handle all kinds of situations and completely replace drivers. Because humans exhibit strong robustness and adaptability…
In conditionally automated vehicles, drivers can engage in secondary activities while traveling to their destination. However, drivers are required to appropriately respond, in a limited amount of time, to a take-over request when the…
For the optimum design of a driver-automation shared control system, an understanding of driver behavior based on measurements and modeling is crucial early in the development process. This paper presents a driver model through a weighting…
Simulators are an essential tool for behavioural and interaction research on driving, due to the safety, cost, and experimental control issues of on-road driving experiments. The most advanced simulators use expensive 360 degree projections…
Walking-in-place (WIP) is a locomotion technique that enables users to "walk infinitely" through vast virtual environments using walking-like gestures within a limited physical space. This paper investigates alternative interaction schemes…
The current approach for new Advanced Driver Assistance System (ADAS) and Connected and Automated Driving (CAD) function development involves a significant amount of public road testing which is inefficient due to the number miles that need…
The present cross-disciplinary research explores pedestrian-autonomous vehicle interactions in a safe, virtual environment. We first present contemporary tools in the field and then propose the design and development of a new application…
Haptic shared control is used to manage the control authority allocation between a human and an autonomous agent in semi-autonomous driving. Existing haptic shared control schemes, however, do not take full consideration of the human agent.…
Simulation is an essential tool to develop and benchmark autonomous vehicle planning software in a safe and cost-effective manner. However, realistic simulation requires accurate modeling of nuanced and complex multi-agent interactive…
Simulation-based testing has emerged as an essential tool for verifying and validating autonomous vehicles (AVs). However, contemporary methodologies, such as deterministic and imitation learning-based driver models, struggle to capture the…