Related papers: A Probabilistic Framework for Estimating the Risk …
Urban intersections with mixed pedestrian and non-motorized vehicle traffic present complex safety challenges, yet traditional models fail to account for dynamic interactions arising from speed heterogeneity and collision anticipation. This…
For motion planning and control of autonomous vehicles to be proactive and safe, pedestrians' and other road users' motions must be considered. In this paper, we present a vehicle motion planning and control framework, based on Model…
Many models account for the traffic flow of road users but few take the details of local interactions into consideration and how they could deteriorate into safety-critical situations. Building on the concept of sensorimotor control, we…
Predicting human trajectories is a challenging task due to the complexity of pedestrian behavior, which is influenced by external factors such as the scene's topology and interactions with other pedestrians. A special challenge arises from…
Due to the inherent safety concerns associated with traffic movement in unconstrained two-dimensional settings, it is important that pedestrians' and other modes' movements such as bicyclists are modeled as a risk-taking stochastic dynamic…
A collision hazard measure that has the essential characteristics to provide a measurement of safety that will be useful to AV developers, traffic infrastructure developers and managers, regulators and the public is introduced here. The…
The utilization of traffic conflict indicators is crucial for assessing traffic safety, especially when the crash data is unavailable. To identify traffic conflicts based on traffic flow characteristics across various traffic states, we…
In smart transportation, intelligent systems avoid potential collisions by predicting the intent of traffic agents, especially pedestrians. Pedestrian intent, defined as future action, e.g., start crossing, can be dependent on traffic…
Autonomous agents must be able to safely interact with other vehicles to integrate into urban environments. The safety of these agents is dependent on their ability to predict collisions with other vehicles' future trajectories for…
We propose a Stochastic MPC (SMPC) formulation for autonomous driving at traffic intersections which incorporates multi-modal predictions of surrounding vehicles for collision avoidance constraints. The multi-modal predictions are obtained…
We investigate the problem of coordinating human-driven vehicles in road intersections without any traffic lights or signs by issuing speed advices. The vehicles in the intersection are assumed to move along an a priori known path and to be…
Traffic safety at intersections is studied quantitatively using methods from Statistical Mechanics on the basis of simple microscopic traffic flow models. In order to determine a relationship between traffic flow and the number of crashes,…
Unsignalized intersection driving is challenging for automated vehicles. For safe and efficient performances, the diverse and dynamic behaviors of interacting vehicles should be considered. Based on a game-theoretic framework, a human-like…
Surrogate safety measures can provide fast and pro-active safety analysis and give insights on the pre-crash process and crash failure mechanism by studying near misses. However, validating surrogate safety measures by connecting them to…
Pedestrian trajectory prediction is essential for collision avoidance in autonomous driving and robot navigation. However, predicting a pedestrian's trajectory in crowded environments is non-trivial as it is influenced by other pedestrians'…
With the unprecedented shift towards automated urban environments in recent years, a new paradigm is required to study pedestrian behaviour. Studying pedestrian behaviour in futuristic scenarios requires modern data sources that consider…
Automated vehicles require efficient and safe planning to maneuver in uncertain environments. Largely this uncertainty is caused by other traffic participants, e.g., surrounding vehicles. Future motion of surrounding vehicles is often…
Improving road safety is hugely important with the number of deaths on the world's roads remaining unacceptably high; an estimated 1.35 million people die each year (WHO, 2020). Current practice for treating collision hotspots is almost…
This paper presents a novel framework for accurate pedestrian intent prediction at intersections. Given some prior knowledge of the curbside geometry, the presented framework can accurately predict pedestrian trajectories, even in new…
The mortality rate for pedestrians using wheelchairs was 36% higher than the overall population pedestrian mortality rate. However, there is no data to clarify the pedestrians' categories in both fatal and nonfatal accidents, since police…