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Efficient trajectory planning for urban intersections is currently one of the most challenging tasks for an Autonomous Vehicle (AV). Courteous behavior towards other traffic participants, the AV's comfort and its progression in the…
Validating the safety of Autonomous Vehicles (AVs) operating in open-ended, dynamic environments is challenging as vehicles will eventually encounter safety-critical situations for which there is not representative training data. By…
Scene understanding is essential for enhancing driver safety, generating human-centric explanations for Automated Vehicle (AV) decisions, and leveraging Artificial Intelligence (AI) for retrospective driving video analysis. This study…
The reliable operation of autonomous vehicles, automated driving functions, and advanced driver assistance systems across a wide range of relevant scenarios is critical for their development and deployment. Identifying a near-complete set…
Ensuring the safety of autonomous vehicles (AVs) is the key requisite for their acceptance in society. This complexity is the core challenge in formally proving their safety conditions with AI-based black-box controllers and surrounding…
To maximize safety and driving comfort, autonomous driving systems can benefit from implementing foresighted action choices that take different potential scenario developments into account. While artificial scene prediction methods are…
During the design of autonomous vehicles (AVs), several stages should include a verification process to guarantee that the AV is driving safely on the roads. One of these stages is to assure the AVs abide by the road traffic rules. To…
With Regulation UNECE R157 on Automated Lane-Keeping Systems, the first framework for the introduction of passenger cars with Level 3 systems has become available in 2020. In accordance with recent research projects including academia and…
Autonomous vehicles (AVs) must be both safe and trustworthy to gain social acceptance and become a viable option for everyday public transportation. Explanations about the system behaviour can increase safety and trust in AVs.…
In this paper, we present the application of successive convexification methods to autonomous driving problems borrowed from recent aerospace literature. We formulate two optimization problems within the successive convexification…
Simulation systems have become an essential component in the development and validation of autonomous driving technologies. The prevailing state-of-the-art approach for simulation is to use game engines or high-fidelity computer graphics…
Validating the safety and performance of an autonomous vehicle (AV) requires benchmarking on real-world driving logs. However, typical driving logs contain mostly uneventful scenarios with minimal interactions between road users.…
One of the challenges in designing safe, reliable and trustworthy Autonomous Vehicles (AVs) is to ensure that the AVs abide by traffic rules. For this, the AVs need to be able to understand and reason about traffic rules. In previous work,…
Testing and evaluation is a crucial step in the development and deployment of Connected and Automated Vehicles (CAVs). To comprehensively evaluate the performance of CAVs, it is of necessity to test the CAVs in safety-critical scenarios,…
Autonomous Vehicle (AV) technology is advancing rapidly, promising a significant shift in road transportation safety and potentially resolving various complex transportation issues. With the increasing deployment of AVs by various…
For an autonomous vehicle, situation understand-ing is a key capability towards safe and comfortable decision-making and navigation. Information is in general provided bymultiple sources. Prior information about the road topology andtraffic…
This paper focuses on automatic guided vehicle (AGV) trajectory planning in the presence of moving obstacles with known but complicated trajectories. In order to achieve good solution precision, optimality and unification, the concerned…
The viability of automated driving is heavily dependent on the performance of perception systems to provide real-time accurate and reliable information for robust decision-making and maneuvers. These systems must perform reliably not only…
This paper examines the problem of dynamic traffic scene classification under space-time variations in viewpoint that arise from video captured on-board a moving vehicle. Solutions to this problem are important for realization of effective…
To validate the safety of automated vehicles (AV), scenario-based testing aims to systematically describe driving scenarios an AV might encounter. In this process, continuous inputs such as velocities result in an infinite number of…