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Ensuring the safety of autonomous vehicles (AV) requires rigorous testing under both everyday driving and rare, safety-critical conditions. A key challenge lies in simulating environment agents, including background vehicles (BVs) and…
Training intelligent agents that can drive autonomously in various urban and highway scenarios has been a hot topic in the robotics society within the last decades. However, the diversity of driving environments in terms of road topology…
In contemporary autonomous driving testing, virtual simulation has become an important approach due to its efficiency and cost effectiveness. However, existing methods usually rely on reinforcement learning to generate risky scenarios,…
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…
In this paper, a probabilistic space-time representation of complex traffic scenarios is predicted using machine learning algorithms. Such a representation is significant for all active vehicle safety applications especially when performing…
For high-stakes applications, like autonomous driving, a safe operation is necessary to prevent harm, accidents, and failures. Traditionally, difficult scenarios have been categorized into corner cases and addressed individually. However,…
Applying reinforcement learning to autonomous driving entails particular challenges, primarily due to dynamically changing traffic flows. To address such challenges, it is necessary to quickly determine response strategies to the changing…
Safety-critical scenarios are essential for training and evaluating autonomous driving (AD) systems, yet remain extremely rare in real-world driving datasets. To address this, we propose Real-world Crash Grounding (RCG), a scenario…
Evaluating and improving planning for autonomous vehicles requires scalable generation of long-tail traffic scenarios. To be useful, these scenarios must be realistic and challenging, but not impossible to drive through safely. In this…
Driving in compliance with traffic laws and regulations is a basic requirement for human drivers, yet autonomous vehicles (AVs) can violate these requirements in diverse real-world scenarios. To encode law compliance into AV systems,…
Scaling the distribution of automated vehicles requires handling various unexpected and possibly dangerous situations, termed corner cases (CC). Since many modules of automated driving systems are based on machine learning (ML), CC are an…
Trajectory data analysis is an essential component for highly automated driving. Complex models developed with these data predict other road users' movement and behavior patterns. Based on these predictions - and additional contextual…
Clustering traffic scenarios and detecting novel scenario types are required for scenario-based testing of autonomous vehicles. These tasks benefit from either good similarity measures or good representations for the traffic scenarios. In…
Deep reinforcement learning (DRL) is currently the most popular AI-based approach to autonomous vehicle control. An agent, trained for this purpose in simulation, can interact with the real environment with a human-level performance.…
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…
Current research on decision-making in safety-critical scenarios often relies on inefficient data-driven scenario generation or specific modeling approaches, which fail to capture corner cases in real-world contexts. To address this issue,…
This paper investigates the integration of graph neural networks (GNNs) with Qualitative Explainable Graphs (QXGs) for scene understanding in automated driving. Scene understanding is the basis for any further reactive or proactive…
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.…
Recognizing a traffic accident is an essential part of any autonomous driving or road monitoring system. An accident can appear in a wide variety of forms, and understanding what type of accident is taking place may be useful to prevent it…
Autonomous vehicles necessitate a delicate balance between safety, efficiency, and user preferences in trajectory planning. Existing traditional or learning-based methods face challenges in adequately addressing all these aspects. In…