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This research introduces two efficient methods to estimate the collision risk of planned trajectories in autonomous driving under uncertain driving conditions. Deterministic collision checks of planned trajectories are often inaccurate or…
Accurate and robust trajectory predictions of road users are needed to enable safe automated driving. To do this, machine learning models are often used, which can show erratic behavior when presented with previously unseen inputs. In this…
Traffic simulators act as an essential component in the operating and planning of transportation systems. Conventional traffic simulators usually employ a calibrated physical car-following model to describe vehicles' behaviors and their…
Accurately estimating vehicle velocity via smartphone is critical for mobile navigation and transportation. This paper introduces a cutting-edge framework for velocity estimation that incorporates temporal learning models, utilizing…
Globally, motorcycles attract vast and varied users. However, since the rate of severe injury and fatality in motorcycle accidents far exceeds passenger car accidents, efforts have been directed toward increasing passive safety systems.…
To build commercial robots, skid-steering mechanical design is of increased popularity due to its manufacturing simplicity and unique mechanism. However, these also cause significant challenges on software and algorithm design, especially…
Recent success of semantic segmentation approaches on demanding road driving datasets has spurred interest in many related application fields. Many of these applications involve real-time prediction on mobile platforms such as cars, drones…
Accurate motion prediction of surrounding traffic participants is crucial for the safe and efficient operation of automated vehicles in dynamic environments. Marginal prediction models commonly forecast each agent's future trajectories…
LiDAR-camera fusion is one of the core processes for the perception system of current automated driving systems. The typical sensor fusion process includes a list of coordinate transformation operations following system calibration.…
Connected vehicles (CVs) can provide numerous new data via vehicle-to-vehicle or vehicle-to-infrastructure communication. These data can in turn be used to facilitate real-time traffic state estimation. In this paper, we focus on ramp queue…
Roadside Collaborative Perception refers to a system where multiple roadside units collaborate to pool their perceptual data, assisting vehicles in enhancing their environmental awareness. Existing roadside perception methods concentrate on…
We present a novel learning-based collision avoidance algorithm, CrowdSteer, for mobile robots operating in dense and crowded environments. Our approach is end-to-end and uses multiple perception sensors such as a 2-D lidar along with a…
This paper proposes a new driving style recognition approach that allows autonomous vehicles (AVs) to perform trajectory predictions for surrounding vehicles with minimal data. Toward that end, we use a hybrid of offline and online methods…
The assessment of highly-risky situations at road intersections have been recently revealed as an important research topic within the context of the automotive industry. In this paper we shall introduce a novel approach to compute risk…
Intelligent Transportation System (ITS) has become one of the essential components in Industry 4.0. As one of the critical indicators of ITS, efficiency has attracted wide attention from researchers. However, the next generation of urban…
A novel algorithm is presented for the estimation of collision probabilities between dynamic objects with uncertain trajectories, where the trajectories are given as a sequence of poses with Gaussian distributions. We propose an adaptive…
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…
Traffic simulation is a great tool to demonstrate complex traffic structures which can be extremely useful for the planning, development, and management of road traffic networks. Current traffic simulators offer limited features when it…
Infrastructure-based sensing and real-time trajectory generation show promise for improving safety in high-risk roadway segments such as work zones, yet practical deployments are hindered by perspective distortion, complex geometry,…
Reliable estimation (or measurement) of vehicle states has always been an active topic of research in the automotive industry and academia. Among the vehicle states, vehicle speed has a priority due to its critical importance in traction…