Related papers: Probabilistic Uncertainty-Aware Risk Spot Detector…
Accurate accident anticipation is essential for enhancing the safety of autonomous vehicles (AVs). However, existing methods often assume ideal conditions, overlooking challenges such as sensor failures, environmental disturbances, and data…
Safety is an important topic in autonomous driving since any collision may cause serious injury to people and damage to property. Hamilton-Jacobi (HJ) Reachability is a formal method that verifies safety in multi-agent interaction and…
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…
Identification of high-risk driving situations is generally approached through collision risk estimation or accident pattern recognition. In this work, we approach the problem from the perspective of subjective risk. We operationalize…
Balancing the trade-off between safety and efficiency is of significant importance for path planning under uncertainty. Many risk-aware path planners have been developed to explicitly limit the probability of collision to an acceptable…
The widescale deployment of Autonomous Vehicles (AV) seems to be imminent despite many safety challenges that are yet to be resolved. It is well known that there are no universally agreed Verification and Validation (VV) methodologies to…
Vehicles with Automated Driving Systems (ADS) operate in a high-dimensional continuous system with multi-agent interactions. This continuous system features various types of traffic agents (non-homogeneous) governed by continuous-motion…
Given the temporal GPS coordinates from a large set of human agents, how can we model their mobility behavior toward effective anomaly (e.g. bad-actor or malicious behavior) detection without any labeled data? Human mobility and trajectory…
Robustly predicting attention regions of interest for self-driving systems is crucial for driving safety but presents significant challenges due to the labor-intensive nature of obtaining large-scale attention labels and the domain gap…
Autonomous driving has attracted great interest due to its potential capability in full-unsupervised driving. Model-based and learning-based methods are widely used in autonomous driving. Model-based methods rely on pre-defined models of…
As a key indicator of unsafe driving, driving volatility characterizes the variations in microscopic driving decisions. This study characterizes volatility in longitudinal and lateral driving decisions and examines the links between driving…
In the field of conditional autonomous driving technology, driver perceived risk prediction plays a crucial role in reducing traffic risks and ensuring passenger safety. This study introduces an innovative perceived risk prediction model…
We study object importance-based vision risk object identification (Vision-ROI), a key capability for hazard detection in intelligent driving systems. Existing approaches make deterministic decisions and ignore uncertainty, which could lead…
Stochastic Model Predictive Control has proved to be an efficient method to plan trajectories in uncertain environments, e.g., for autonomous vehicles. Chance constraints ensure that the probability of collision is bounded by a predefined…
Precise and prompt identification of road surface conditions enables vehicles to adjust their actions, like changing speed or using specific traction control techniques, to lower the chance of accidents and potential danger to drivers and…
Car accidents remain a significant public safety issue worldwide, with the majority of them attributed to driver errors stemming from inadequate driving knowledge, non-compliance with regulations, and poor driving habits. To improve road…
Although ground robotic autonomy has gained widespread usage in structured and controlled environments, autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as…
Automated vehicles are envisioned to navigate safely in complex mixed-traffic scenarios alongside human-driven vehicles. To promise a high degree of safety, accurately predicting the maneuvers of surrounding vehicles and their future…
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…
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…