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This article discusses the concept of an Operational Design Domain (ODD) designed specifically for teleoperated road vehicles. For this purpose, the ODD concept designed for automated driving is adapted for teleoperation. As teleoperation…
Testing is essential for verifying and validating control designs, especially in safety-critical applications. In particular, the control system governing an automated driving vehicle must be proven reliable enough for its acceptance on the…
Shared control schemes allow a human driver to work with an automated driving agent in driver-vehicle systems while retaining the driver's abilities to control. The human driver, as an essential agent in the driver-vehicle shared control…
The market introduction of automated vehicles has motivated intense research efforts into the safety of automated vehicle systems. Unlike driver assistance systems, SAE Level 3+ systems are not only responsible for executing (parts of) the…
Artificial Intelligence (AI) has been on the rise in many domains, including numerous safety-critical applications. However, for complex systems in the real world, defining the underlying environmental conditions in which the AI-based…
Augmenting automated vehicles to wirelessly detect and respond to external events before they are detectable by onboard sensors is crucial for developing context-aware driving strategies. To this end, we present an automated vehicle…
The validation of highly automated, perception-based driving systems must ensure that they function correctly under the full range of real-world conditions. Scenario-based testing is a prominent approach to addressing this challenge, as it…
There is an increasing necessity to deploy autonomous systems in highly heterogeneous, dynamic environments, e.g. service robots in hospitals or autonomous cars on highways. Due to the uncertainty in these environments, the verification…
Autonomous systems are often deployed in complex sociotechnical environments, such as public roads, where they must behave safely and securely. Unlike many traditionally engineered systems, autonomous systems are expected to behave…
The full deployment of autonomous driving systems on a worldwide scale requires that the self-driving vehicle be operated in a provably safe manner, i.e., the vehicle must be able to avoid collisions in any possible traffic situation. In…
Control Co-Design (CCD) considers the coupled effects of both the plant and control parameters to optimize a system's closed-loop transient performance during the design stage. This paper presents a new method for CCD with guarantees on…
Self-driving technology is expected to revolutionize different sectors and is seen as the natural evolution of road vehicles. In the last years, real-world validation of designed and virtually tested solutions is growing in importance since…
Ensuring reliable performance in situations outside the Operational Design Domain (ODD) remains a primary challenge in devising resilient autonomous systems. We explore this challenge by introducing an approach for adapting probabilistic…
This paper explores the role and challenges of Artificial Intelligence (AI) algorithms, specifically AI-based software elements, in autonomous driving systems. These AI systems are fundamental in executing real-time critical functions in…
Autonomous driving is a highly anticipated approach toward eliminating roadway fatalities. At the same time, the bar for safety is both high and costly to verify. This work considers the role of remotely-located human operators supervising…
Recently, an increasingly growing number of companies is focusing on achieving self-driving systems towards SAE level 3 and higher. Such systems will have much more complex capabilities than today's advanced driver assistance systems (ADAS)…
In this article, we present a long-duration autonomy approach for the control of connected and automated vehicles (CAVs) operating in a transportation network. In particular, we focus on the performance of CAVs at traffic bottlenecks,…
This chapter focuses on the self-driving technology from a control perspective and investigates the control strategies used in autonomous vehicles and advanced driver-assistance systems from both theoretical and practical viewpoints. First,…
Safety architectures play a crucial role in the safety assurance of automated driving vehicles (ADVs). They can be used as safety envelopes of black-box ADV controllers, and for graceful degradation from one ODD to another. Building on our…
This paper describes Waymo's Collision Avoidance Testing (CAT) methodology: a scenario-based testing method that evaluates the safety of the Waymo Driver Automated Driving Systems' (ADS) intended functionality in conflict situations…