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Intersections are essential road infrastructures for traffic in modern metropolises. However, they can also be the bottleneck of traffic flows as a result of traffic incidents or the absence of traffic coordination mechanisms such as…

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…

Autonomous driving remains a challenging task, particularly due to safety concerns. Modern vehicles are typically equipped with expensive sensors such as LiDAR, cameras, and radars to reduce the risk of accidents. However, these sensors…

This paper proposes a novel approach to integrate optimal control of perimeter intersections (i.e. to minimize local delay) into the perimeter control scheme (i.e. to optimize traffic performance at the network level). This is a complex…

This paper presents the state-of-the-art on Collision Avoidance and Collision Warning (CA,CW) systems. Traffic accidents result from driver errors or situations that are unpredictable for the driver. CA,CW systems are developed for reducing…

Model Predictive Control (MPC) has shown to be a successful method for many applications that require control. Especially in the presence of prediction uncertainty, various types of MPC offer robust or efficient control system behavior. For…

Communication and computation services supporting Connected and Automated Vehicles (CAVs) are characterized by stringent requirements, in terms of response time and reliability. Fulfilling these requirements is crucial for ensuring road…

This paper proposes vehicle motion planning methods with obstacle avoidance in tight spaces by incorporating polygonal approximations of both the vehicle and obstacles into a model predictive control (MPC) framework. Representing these…

Earlier work has established a decentralized optimal control framework for coordinating online a continuous flow of connected automated vehicles (CAVs) entering a control zone and crossing two adjacent intersections in an urban area. A…

For motion planning and control of autonomous vehicles to be proactive and safe, pedestrians' and other road users' motions must be considered. In this paper, we present a vehicle motion planning and control framework, based on Model…

Autonomous driving systems face significant challenges in handling unpredictable edge-case scenarios, such as adversarial pedestrian movements, dangerous vehicle maneuvers, and sudden environmental changes. Current end-to-end driving models…

Assessing collision risk is a critical challenge to effective traffic safety management. The deployment of unmanned aerial vehicles (UAVs) to address this issue has shown much promise, given their wide visual field and movement flexibility.…

Avoiding collisions with vulnerable road users (VRUs) using sensor-based early recognition of critical situations is one of the manifold opportunities provided by the current development in the field of intelligent vehicles. As especially…

The prediction of surrounding vehicle trajectories is crucial for collision-free path planning. In this study, we focus on a scenario where a connected and autonomous vehicle (CAV) serves as the central agent, utilizing both sensors and…

Model predictive control (MPC) has become the de facto standard action space for local planning and learning-based control in many continuous robotic control tasks, including autonomous driving. MPC solves a long-horizon cost optimization…

Predicting on-road abnormalities such as road accidents or traffic violations is a challenging task in traffic surveillance. If such predictions can be done in advance, many damages can be controlled. Here in our wok, we tried to formulate…

In this paper, we present a novel information processing architecture for safe deep learning-based visual navigation of autonomous systems. The proposed information processing architecture is used to support a perceptual attention-based…

Accident detection using Closed Circuit Television (CCTV) footage is one of the most imperative features for enhancing transport safety and efficient traffic control. To this end, this research addresses the issues of supervised monitoring…

Motion planning at urban intersections that accounts for the situation context, handles occlusions, and deals with measurement and prediction uncertainty is a major challenge on the way to urban automated driving. In this work, we address…

Smart intersections have the potential to improve road safety with sensing, communication, and edge computing technologies. Perception sensors installed at a smart intersection can monitor the traffic environment in real time and send…