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This paper presents an experimental study of a path-tracking framework for autonomous vehicles in which the lateral control command is applied to a dynamic control point along the wheelbase. Instead of enforcing a fixed reference at either…
The technological and scientific challenges involved in the development of autonomous vehicles (AVs) are currently of primary interest for many automobile companies and research labs. However, human-controlled vehicles are likely to remain…
Shared autonomy integrates user input with robot autonomy in order to control a robot and help the user to complete a task. Our work aims to improve the performance of such a human-robot team: the robot tries to guide the human towards an…
In this work, we compare the direct and indirect approaches to data-driven predictive control of stochastic linear time-invariant systems. The distinction between the two approaches lies in the fact that the indirect approach involves…
A major challenge for autonomous vehicles is handling interactive scenarios, such as highway merging, with human-driven vehicles. A better understanding of human interactive behaviour could help address this challenge. Such understanding…
This study investigates the role of haptic feedback in a car-following scenario, where information about the motion of the front vehicle is provided through a virtual elastic connection with it. Using a robotic interface in a simulated…
The ability to predict the future movements of other vehicles is a subconscious and effortless skill for humans and key to safe autonomous driving. Therefore, trajectory prediction for autonomous cars has gained a lot of attention in recent…
Car following (CF) models are fundamental to describing traffic dynamics. However, the CF behavior of human drivers is highly stochastic and nonlinear. As a result, identifying the best CF model has been challenging and controversial…
Vision-based learning methods for self-driving cars have primarily used supervised approaches that require a large number of labels for training. However, those labels are usually difficult and expensive to obtain. In this paper, we…
In commentary driving, drivers verbalise their observations, assessments and intentions. By speaking out their thoughts, both learning and expert drivers are able to create a better understanding and awareness of their surroundings. In the…
Intra-driver and inter-driver heterogeneity has been confirmed to exist in human driving behaviors by many studies. In this study, a joint model of the two types of heterogeneity in car-following behavior is proposed as an approach of…
Head motion is a key determinant of motion comfort and differs substantially from seat motion due to seat and body compliance and dynamic postural stabilization. This paper compares different human body model fidelities to transmit seat…
This study aims to explore the dynamics of driver attention to various zones, including the road, the central mirror, the embedded Human-Machine Interface (HMI), and the speedometer, across different driving modes in AVs. The integration of…
The control for aggressive driving of autonomous cars is challenging due to the presence of significant tyre slip. Data-driven and mechanism-based methods for the modeling and control of autonomous cars under aggressive driving conditions…
According to data from the United Nations, more than 3000 people have died each day in the world due to road traffic collision. Considering recent researches, the human error may be considered as the main responsible for these fatalities.…
Both assistant driving and self-driving have attracted a great amount of attention in the last few years. However, the majority of research efforts focus on safe driving; few research has been conducted on in-vehicle climate control, or…
Human-leading truck platooning systems have been proposed to leverage the benefits of both human supervision and vehicle autonomy. Equipped with human guidance and autonomous technology, human-leading truck platooning systems are more…
Adjustable autonomy refers to entities dynamically varying their own autonomy, transferring decision-making control to other entities (typically agents transferring control to human users) in key situations. Determining whether and when…
Autonomous vehicles currently suffer from a time-inefficient driving style caused by uncertainty about human behavior in traffic interactions. Accurate and reliable prediction models enabling more efficient trajectory planning could make…
Characteristic values are essential for the design and assessment of driving dynamics during the early stages of the development process of passenger cars. Compared to other aspects of vehicle dynamics however, the relationship between…