Related papers: Task-Aware Risk Estimation of Perception Failures …
Avoiding unseen or partially occluded vulnerable road users (VRUs) is a major challenge for fully autonomous driving in urban scenes. However, occlusion-aware risk assessment systems have not been widely studied. Here, we propose a…
The safety-critical nature of autonomous vehicle (AV) operation necessitates development of task-relevant algorithms that can reason about safety at the system level and not just at the component level. To reason about the impact of a…
When considering the accuracy of sensors in an automated vehicle (AV), it is not sufficient to evaluate the performance of any given sensor in isolation. Rather, the performance of any individual sensor must be considered in the context of…
The need for a systematic approach to risk assessment has increased in recent years due to the ubiquity of autonomous systems that alter our day-to-day experiences and their need for safety, e.g., for self-driving vehicles, mobile service…
Trajectory prediction is significant for intelligent vehicles to achieve high-level autonomous driving, and a lot of relevant research achievements have been made recently. Despite the rapid development, most existing studies solely focused…
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…
Inter-vehicle communication for autonomous vehicles (AVs) stands to provide significant benefits in terms of perception robustness. We propose a novel approach for AVs to communicate perceptual observations, tempered by trust modelling of…
Safety assurance of automated driving systems must consider uncertain environment perception. This paper reviews literature addressing how perception testing is realized as part of safety assurance. We focus on testing for verification and…
Advancements in autonomous vehicle (AV) technologies necessitate precise estimation of perceived risk to enhance user comfort, acceptance and trust. This paper introduces a novel AV-Occupant Risk (AVOR) model designed for perceived risk…
Autonomous cars have to navigate in dynamic environment which can be full of uncertainties. The uncertainties can come either from sensor limitations such as occlusions and limited sensor range, or from probabilistic prediction of other…
We propose a risk-aware framework for multi-robot, multi-demand assignment and planning in unknown environments. Our motivation is disaster response and search-and-rescue scenarios where ground vehicles must reach demand locations as soon…
Despite the continual advances in Advanced Driver Assistance Systems (ADAS) and the development of high-level autonomous vehicles (AV), there is a general consensus that for the short to medium term, there is a requirement for a human…
Evaluating the safety of an autonomous vehicle (AV) depends on the behavior of surrounding agents which can be heavily influenced by factors such as environmental context and informally-defined driving etiquette. A key challenge is in…
Navigating safely in urban environments remains a challenging problem for autonomous vehicles. Occlusion and limited sensor range can pose significant challenges to safely navigate among pedestrians and other vehicles in the environment.…
Recently, autonomous driving development ignited competition among car makers and technical corporations. Low-level automation cars are already commercially available. But high automated vehicles where the vehicle drives by itself without…
Autonomous vehicles interacting with other traffic participants heavily rely on the perception and prediction of other agents' behaviors to plan safe trajectories. However, as occlusions limit the vehicle's perception ability, reasoning…
This paper investigates runtime monitoring of perception systems. Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self-driving cars. In these applications, failure of perception…
The autonomous car technology promises to replace human drivers with safer driving systems. But although autonomous cars can become safer than human drivers this is a long process that is going to be refined over time. Before these vehicles…
Autonomous vehicles (AVs) must navigate dynamic urban environments where occlusions and perception limitations introduce significant uncertainties. This research builds upon and extends existing approaches in risk-aware motion planning and…
Autonomous vehicles need to plan at the task level to compute a sequence of symbolic actions, such as merging left and turning right, to fulfill people's service requests, where efficiency is the main concern. At the same time, the vehicles…