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Today's autonomous vehicles rely extensively on high-definition 3D maps to navigate the environment. While this approach works well when these maps are completely up-to-date, safe autonomous vehicles must be able to corroborate the map's…
We present a new modular traffic signs recognition system, successfully applied to both American and European speed limit signs. Our sign detection step is based only on shape-detection (rectangles or circles). This enables it to work on…
Recent work done on traffic sign and traffic light detection focus on improving detection accuracy in complex scenarios, yet many fail to deliver real-time performance, specifically with limited computational resources. In this work, we…
Coherent lidars promise a number of advantages over traditional time-of-flight lidars for autonomous vehicles. These include the direct measurement of target approach velocities via the Doppler effect, and near-immunity to interference from…
Lane detection algorithms are crucial for the development of autonomous vehicles technologies. The more extended approach is to use cameras as sensors. However, LIDAR sensors can cope with weather and light conditions that cameras can not.…
Using a vehicle toy (in next future called vehicle) as a moving object an automatic road lighting system (ARLS) model is constructed. A digital video camera with 25 fps is used to capture the vehicle motion as it moves in the test segment…
RGB cameras are one of the most relevant sensors for autonomous driving applications. It is undeniable that failures of vehicle cameras may compromise the autonomous driving task, possibly leading to unsafe behaviors when images that are…
Radars and cameras are mature, cost-effective, and robust sensors and have been widely used in the perception stack of mass-produced autonomous driving systems. Due to their complementary properties, outputs from radar detection (radar…
We consider a mixed autonomy scenario where the traffic intersection controller decides whether the traffic light will be green or red at each lane for multiple traffic-light blocks. The objective of the traffic intersection controller is…
Object Detection, a fundamental computer vision problem, has paramount importance in smart camera systems. However, a truly reliable camera system could be achieved if and only if the underlying object detection component is robust enough…
The RGB complementary metal-oxidesemiconductor (CMOS) sensor works within the visible light spectrum. Therefore it is very sensitive to environmental light conditions. On the contrary, a long-wave infrared (LWIR) sensor operating in 8-14…
Navigating unsignalized intersections in urban environments poses a complex challenge for self-driving vehicles, where issues such as view obstructions, unpredictable pedestrian crossings, and diverse traffic participants demand a great…
We give a rigorous solution of an optimisation problem of minimizing the expected delay caused by encountering a red traffic light on a road journey. The problem incorporates simple constraints on maximum speed, acceleration and braking…
In recent years, the field of autonomous driving has witnessed remarkable advancements, driven by the integration of a multitude of sensors, including cameras and LiDAR systems, in different prototypes. However, with the proliferation of…
Range-measuring sensors play a critical role in autonomous driving systems. While LiDAR technology has been dominant, its vulnerability to adverse weather conditions is well-documented. This paper focuses on secondary adverse conditions and…
Autonomous driving relies on a variety of sensors, especially on radars, which have unique robustness under heavy rain/fog/snow and poor light conditions. With the rapid increase of the amount of radars used on modern vehicles, where most…
Traffic-Sign Recognition (TSR) is a critical safety component for autonomous driving. Unfortunately, however, past work has highlighted the vulnerability of TSR models to physical-world attacks, through low-cost, easily deployable…
Autonomous racing offers a rigorous setting to stress test perception, planning, and control under high speed and uncertainty. This paper proposes an approach to design and evaluate a software stack for an autonomous race car in CARLA: Car…
Smart and decentralized control systems have recently been proposed to handle the growing traffic congestion in urban cities. Proposed smart traffic light solutions based on Wireless Sensor Network and Vehicular Ad-hoc NETwork are either…
Navigating urban environments represents a complex task for automated vehicles. They must reach their goal safely and efficiently while considering a multitude of traffic participants. We propose a modular decision making algorithm to…