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Transitional autonomous vehicles (tAVs), which operate beyond SAE Level 1-2 automation but short of full autonomy, are increasingly sharing the road with human-driven vehicles (HDVs). As these systems interact during complex maneuvers such…
Many road accidents occur due to distracted drivers. Today, driver monitoring is essential even for the latest autonomous vehicles to alert distracted drivers in order to take over control of the vehicle in case of emergency. In this paper,…
Developing a safe and efficient collision avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generate its paths without observing other robots' states and intents. While other distributed…
Active collision avoidance system plays a crucial role in ensuring the lateral safety of autonomous vehicles, and it is primarily related to path planning and tracking control algorithms. In particular, the direct yaw-moment control (DYC)…
To help mitigate road congestion caused by the unrelenting growth of traffic demand, many transportation authorities have implemented managed lane policies, which restrict certain freeway lanes to certain types of vehicles. It was…
Adaptive traffic signal control (ATSC) can effectively reduce vehicle travel times by dynamically adjusting signal timings but poses a critical challenge in real-world scenarios due to the complexity of real-time decision-making in dynamic…
As we navigate our daily commutes, the threat posed by a distracted driver is at a large, resulting in a troubling rise in traffic accidents. Addressing this safety concern, our project harnesses the analytical power of Convolutional Neural…
Decision-making stands as a pivotal component in the realm of autonomous vehicles (AVs), playing a crucial role in navigating the intricacies of autonomous driving. Amidst the evolving landscape of data-driven methodologies, enhancing…
This work presents a novel Learning Model Predictive Control (LMPC) strategy for autonomous racing at the handling limit that can iteratively explore and learn unknown dynamics in high-speed operational domains. We start from existing LMPC…
This paper presents a learning from demonstration approach to programming safe, autonomous behaviors for uncommon driving scenarios. Simulation is used to re-create a targeted driving situation, one containing a road-side hazard creating a…
In recent years, autonomous driving algorithms using low-cost vehicle-mounted cameras have attracted increasing endeavors from both academia and industry. There are multiple fronts to these endeavors, including object detection on roads,…
Criticality metrics such as time-to-collision (TTC) quantify collision urgency but conflate the consequences of false-positive (FP) and false-negative (FN) perception errors. We propose two novel effort-based metrics: False Speed Reduction…
Lane-changing (LC) is a challenging scenario for connected and automated vehicles (CAVs) because of the complex dynamics and high uncertainty of the traffic environment. This challenge can be handled by deep reinforcement learning (DRL)…
In normal on-road situations, autonomous vehicles will be expected to have smooth trajectories with relatively little demand on the vehicle dynamics to ensure passenger comfort and driving safety. However, the occurrence of unexpected…
Autonomous navigation in dense traffic scenarios remains challenging for autonomous vehicles (AVs) because the intentions of other drivers are not directly observable and AVs have to deal with a wide range of driving behaviors. To maneuver…
Time series analysis is critical for emerging net- work intelligent control and management functions. However, existing statistical-based and shallow machine learning models have shown limited prediction capabilities on multivariate time…
Reinforcement learning has steadily improved and outperform human in lots of traditional games since the resurgence of deep neural network. However, these success is not easy to be copied to autonomous driving because the state spaces in…
The lateral position of vehicles within their lane is a decisive factor for the range of vision of vehicle sensors. This, in turn, is crucial for a vehicle's ability to perceive its environment and gain a high situational awareness by…
This study underscores the vital importance of intelligent driving functions in enhancing road safety and driving comfort. Central to our research is the challenge of obtaining sufficient test data for evaluating these functions, especially…
Understanding and predicting highway lane-change maneuvers is essential for driving modeling and its automation. The development of data-based lane-changing decision-making algorithms is nowadays in full expansion. We compare empirically in…