Related papers: Correct by Design Coordination of Autonomous Drivi…

A reliable controller is critical and essential for the execution of safe and smooth maneuvers of an autonomous vehicle.The controller must be robust to external disturbances, such as road surface, weather, and wind conditions, and so on.It…

In today's world, circumstances, processes, and requirements for software systems are becoming increasingly complex. In order to operate properly in such dynamic environments, software systems must adapt to these changes, which has led to…

A unified system integrating a compact object detector and a surrounding environmental condition classifier for enhancing the robustness of object detection scheme in advanced driver assistance systems (ADAS) is proposed in this paper. ADAS…

Traditional planning and control methods could fail to find a feasible trajectory for an autonomous vehicle to execute amongst dense traffic on roads. This is because the obstacle-free volume in spacetime is very small in these scenarios…

Response timing measures play a crucial role in the assessment of automated driving systems (ADS) in collision avoidance scenarios, including but not limited to establishing human benchmarks and comparing ADS to human driver response…

Scenario-based testing for automated driving systems (ADS) must be able to simulate traffic scenarios that rely on interactions with other vehicles. Although many languages for high-level scenario modelling have been proposed, they lack the…

How many scenarios are sufficient to validate the safe Operational Design Domain (ODD) of an Automated Driving System (ADS) equipped vehicle? Is a more significant number of sampled scenarios guaranteeing a more accurate safety assessment…

Recently, autonomous driving system (ADS) has been widely adopted due to its potential to enhance travel convenience and alleviate traffic congestion, thereby improving the driving experience for consumers and creating lucrative…

Autonomous cars have to navigate in dynamic environment which can be full of uncertainties. The uncertainties can come either from sensor limitations such as occlusions and limited sensor range, or from probabilistic prediction of other…

Decision-making for autonomous driving is challenging, considering the complex interactions among multiple traffic agents (e.g., autonomous vehicles (AVs), human drivers, and pedestrians) and the computational load needed to evaluate these…

It is expected that many human drivers will still prefer to drive themselves even if the self-driving technologies are ready. Therefore, human-driven vehicles and autonomous vehicles (AVs) will coexist in a mixed traffic for a long time. To…

Autonomous Driving Assistance Systems (ADAS) rely on extensive testing to ensure safety and reliability, yet road scenario datasets often contain redundant cases that slow down the testing process without improving fault detection. To…

Recent advancements in self-driving car technologies have enabled them to navigate autonomously through various environments. However, one of the critical challenges in autonomous vehicle operation is trajectory planning, especially in…

The paper addresses the problem of providing suitable reference trajectories in motion planning problems for autonomous vehicles. Among the various approaches to compute a reference trajectory, our aim is to find those trajectories which…

Autonomated vehicles (AVs) are expected to have a profound impact on society, with high expectations for their potential benefits. One key anticipated benefit is the reduction of traffic congestion and stop-and-go waves, which negatively…

We propose a hybrid decision-making framework for safe and efficient autonomous driving of selfish vehicles on highways. Specifically, we model the dynamics of each vehicle as a Mixed-Logical-Dynamical system and propose simple driving…

Autonomous traffic agents (ATAs) are expected to act in ways tat are not only safe, but also aligned with stakeholder values across legal, social, and moral dimensions. In this paper, we adopt an established formal model of conflict from…

To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the…

The Responsibility-Sensitive Safety (RSS) model offers provable safety for vehicle behaviors such as minimum safe following distance. However, handling worst-case variability and uncertainty may significantly lower vehicle permissiveness,…

This paper investigates the cooperative planning and control problem for multiple connected autonomous vehicles (CAVs) in different scenarios. In the existing literature, most of the methods suffer from significant problems in computational…