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Driving is a complex daily activity indicating age and disease related cognitive declines. Therefore, deficits in driving performance compared with ones without mild cognitive impairment (MCI) can reflect changes in cognitive functioning.…

The major advances in intelligent transportation systems are pushing societal services toward autonomy where road management is to be more agile in order to cope with changes and continue to yield optimal performance. However, the…

Advanced driver assistance systems have improved comfort, safety, and efficiency of modern vehicles. However, sensor limitations lead to noisy lane estimates that pose a significant challenge in developing performant control architectures.…

For lateral vehicle dynamics, planning trajectories for lane-keeping and lane-change can be generalized as a path planning task to stabilize a vehicle onto a target lane, which is a fundamental element in nowadays autonomous driving…

Motion planners take uncertain information about the environment as an input. The environment information is often quite noisy and has a tendency to contain false positive object detection. State-of-the-art motion planners consider all…

Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…

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…

Trajectory prediction plays a vital role in the performance of autonomous driving systems, and prediction accuracy, such as average displacement error (ADE) or final displacement error (FDE), is widely used as a performance metric. However,…

We present an evaluation of several representative sampling-based and optimization-based motion planners, and then introduce an integrated motion planning system which incorporates recent advances in trajectory optimization into a sparse…

Currently, human drivers outperform self-driving vehicles in many conditions such as collision avoidance. Therefore, understanding human driver behaviour in these conditions will provide insight for future autonomous vehicles. For…

The ambulance service is the main transport for diseased or injured people which suffers the same acceleration forces as regular vehicles. These accelerations, caused by the movement of the vehicle, impact the performance of tasks executed…

While motion planning techniques for automated vehicles in a reactive and anticipatory manner are already widely presented, approaches to cooperative motion planning are still remaining. In this paper, we present an approach to enhance…

Self-driving vehicles rely on sensory input to monitor their surroundings and continuously adapt to the most likely future road course. Predictive trajectory planning is based on snapshots of the (uncertain) road course as a key input.…

Automated driving has the potential to revolutionize personal, public, and freight mobility. Beside accurately perceiving the environment, automated vehicles must plan a safe, comfortable, and efficient motion trajectory. To promote safety…

In the realm of autonomous vehicles, dynamic user preferences are critical yet challenging to accommodate. Existing methods often misrepresent these preferences, either by overlooking their dynamism or overburdening users as humans often…

Autonomous driving consists of a multitude of interacting modules, where each module must contend with errors from the others. Typically, the motion prediction module depends upon a robust tracking system to capture each agent's past…

Human movements are physical processes combining the classical mechanics of the human body moving in space and the biomechanics of the muscles generating the forces acting on the body under sophisticated sensory-motor control. One way to…

Human drivers may behave in an imprecise/unstable manner, leading to traffic oscillations which are harmful to traffic throughput. Recent field experiments have shown that the control of a single autonomous vehicle (AV) can increase traffic…

One of the key factors determining whether autonomous vehicles (AVs) can be seamlessly integrated into existing traffic systems is their ability to interact smoothly and efficiently with human drivers and communicate their intentions. While…

Human mobility is an important characteristic of human behavior, but since tracking personalized position to high temporal and spatial resolution is difficult, most studies on human mobility patterns rely largely on mathematical models.…