Related papers: Vehicle-in-Virtual-Environment (VVE)
This paper presents a LiDAR-based end-to-end autonomous driving method with Vehicle-to-Everything (V2X) communication integration, termed V2X-Lead, to address the challenges of navigating unregulated urban scenarios under mixed-autonomy…
Pedestrian occlusion is challenging for autonomous vehicles (AVs) at midblock locations on multilane roadways because an AV cannot detect crossing pedestrians that are fully occluded by downstream vehicles in adjacent lanes. This paper…
The complexity of digital embedded systems has been increasing in different safety-critical applications such as industrial automation, process control, transportation, and medical digital devices. The correct operation of these systems…
Currently, we are in an environment where the fraction of automated vehicles is negligibly small. We anticipate that this fraction will increase in coming decades before if ever, we have a fully automated transportation system. Motivated by…
Virtual Traffic Light (VTL) is a traffic control method that does not require traffic signal-related infrastructure for roadway intersections. Connected vehicles (CVs) are given right-of-way based on prevailing traffic conditions, such as…
This paper presents a 1/10th scale mini-city platform used as a testing bed for evaluating autonomous and connected vehicles. Using the mini-city platform, we can evaluate different driving scenarios including human-driven and autonomous…
Reliable navigation systems have a wide range of applications in robotics and autonomous driving. Current approaches employ an open-loop process that converts sensor inputs directly into actions. However, these open-loop schemes are…
Vision-language-action (VLA) models are effective as end-to-end motion planners, but can be brittle when evaluated in closed-loop settings due to being trained under traditional imitation learning framework. Existing closed-loop supervision…
Vehicle Ad-hoc Networks (VANETs) act as the core of vehicular communications and provide the fundamental wireless communication architecture to support both vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communication.…
The emerging technology of Vehicle-to-Vehicle (V2V) communication over vehicular ad hoc networks promises to improve road safety by allowing vehicles to autonomously warn each other of road hazards. However, research on other transportation…
Societal-scale deployment of autonomous vehicles requires them to coexist with human drivers, necessitating mutual understanding and coordination among these entities. However, purely real-world or simulation-based experiments cannot be…
Automated Vehicles (AVs) are rapidly maturing in the transportation domain. However, the complexity of the AV design problem is such that no single technique is sufficient to provide adequate validation of key properties such as safety,…
Despite advancements in perception and planning for autonomous vehicles (AVs), validating their performance remains a significant challenge. The deployment of planning algorithms in real-world environments is often ineffective due to…
Vulnerable Road User (VRU) safety has been an important issue throughout the years as corresponding fatality numbers in traffic have been increasing each year. With the developments in connected vehicle technology, there are new and easier…
Pedestrian motion prediction is a key part of the modular-based autonomous driving pipeline, ensuring safe, accurate, and timely awareness of human agents' possible future trajectories. The autonomous vehicle can use this information to…
The rapid iteration of autonomous driving algorithms has created a growing demand for high-fidelity, replayable, and diagnosable testing data. However, many public datasets lack real vehicle dynamics feedback and closed-loop interaction…
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…
In this paper, a novel closed-loop control framework for autonomous obstacle avoidance on a curve road is presented. The proposed framework provides two main functionalities; (i) collision free trajectory planning using MPC and (ii) a…
In this paper, we provide a theoretical framework for the coordination of connected and automated vehicles (CAVs) at signal-free intersections, accounting for the unexpected presence of pedestrians. First, we introduce a general…
Compared with today's 4G wireless communication network, the next generation of wireless system should be able to provide a wider range of services with different QoS requirements. One emerging new service is to exploit cooperative driving…