Related papers: Situation-aware Autonomous Driving Decision Making…
Surrounding perceptions are quintessential for safe driving for connected and autonomous vehicles (CAVs), where the Bird's Eye View has been employed to accurately capture spatial relationships among vehicles. However, severe inherent…
Cooperative driving, enabled by communication between automated vehicle systems, is expected to significantly contribute to transportation safety and efficiency. Cooperative Adaptive Cruise Control (CACC) and platooning are two of the main…
Autonomous vehicles have the potential to increase the capacity of roads via platooning, even when human drivers and autonomous vehicles share roads. However, when users of a road network choose their routes selfishly, the resulting traffic…
Uncontrolled intersections account for a significant fraction of roadway crashes due to ambiguous right-of-way rules, occlusions, and unpredictable driver behavior. While autonomous vehicle research has explored uncertainty-aware decision…
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 work examines the hypothesis that partially observable Markov decision process (POMDP) planning with human driver internal states can significantly improve both safety and efficiency in autonomous freeway driving. We evaluate this…
Collaborative perception in automated vehicles leverages the exchange of information between agents, aiming to elevate perception results. Previous camera-based collaborative 3D perception methods typically employ 3D bounding boxes or…
Lane change for autonomous vehicles (AVs) is an important but challenging task in complex dynamic traffic environments. Due to difficulties in guarantee safety as well as a high efficiency, AVs are inclined to choose relatively conservative…
Roadside Collaborative Perception refers to a system where multiple roadside units collaborate to pool their perceptual data, assisting vehicles in enhancing their environmental awareness. Existing roadside perception methods concentrate on…
Perception of the driving environment is critical for collision avoidance and route planning to ensure driving safety. Cooperative perception has been widely studied as an effective approach to addressing the shortcomings of single-vehicle…
Comprehensive environment perception is essential for autonomous vehicles to operate safely. It is crucial to detect both dynamic road users and static objects like traffic signs or lanes as these are required for safe motion planning.…
Cooperative perception allows a Connected Autonomous Vehicle (CAV) to interact with the other CAVs in the vicinity to enhance perception of surrounding objects to increase safety and reliability. It can compensate for the limitations of the…
Cooperative perception (CP) offers significant potential to overcome the limitations of single-vehicle sensing by enabling information sharing among connected vehicles (CVs). However, existing generic CP approaches need to transmit large…
3D object detection is a common function within the perception system of an autonomous vehicle and outputs a list of 3D bounding boxes around objects of interest. Various 3D object detection methods have relied on fusion of different sensor…
The connected automated vehicle has been often touted as a technology that will become pervasive in society in the near future. One can view an automated vehicle as having Artificial Intelligence (AI) capabilities, being able to self-drive,…
Connected Autonomous Vehicles have great potential to improve automobile safety and traffic flow, especially in cooperative applications where perception data is shared between vehicles. However, this cooperation must be secured from…
Cooperative perception, which has a broader perception field than single-vehicle perception, has played an increasingly important role in autonomous driving to conduct 3D object detection. Through vehicle-to-vehicle (V2V) communication…
Smart roads have become an essential component of intelligent transportation systems (ITS). The roadside perception technology, a critical aspect of smart roads, utilizes various sensors, roadside units (RSUs), and edge computing devices to…
Collaborative perception (CP) leverages visual data from connected and autonomous vehicles (CAV) to enhance an ego vehicle's field of view (FoV). Despite recent progress, current CP methods expand the ego vehicle's 360-degree perceptual…
This paper studies congestion-aware route-planning policies for Autonomous Mobility-on-Demand (AMoD) systems, whereby a fleet of autonomous vehicles provides on-demand mobility under mixed traffic conditions. Specifically, we first devise a…