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Automated lane changing is a critical feature for advanced autonomous driving systems. In recent years, reinforcement learning (RL) algorithms trained on traffic simulators yielded successful results in computing lane changing policies that…

Autonomous driving in an unregulated urban crowd is an outstanding challenge, especially, in the presence of many aggressive, high-speed traffic participants. This paper presents SUMMIT, a high-fidelity simulator that facilitates the…

Automated vehicles (AVs) are expected to increase traffic safety and traffic efficiency, among others by enabling flexible mobility-on-demand systems. This is particularly important in Singapore, being one of the world's most densely…

Traffic incidents involving vulnerable road users (VRUs) constitute a significant proportion of global road accidents. Advances in traffic communication ecosystems, coupled with sophisticated signal processing and machine learning…

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…

Autonomous vehicles (AVs) promise efficient, clean and cost-effective transportation systems, but their reliance on sensors, wireless communications, and decision-making systems makes them vulnerable to cyberattacks and physical threats.…

Scenario-based testing has emerged as a common method for autonomous vehicles (AVs) safety assessment, offering a more efficient alternative to mile-based testing by focusing on high-risk scenarios. However, fundamental questions persist…

An open problem for autonomous driving is how to validate the safety of an autonomous vehicle in simulation. Automated testing procedures can find failures of an autonomous system but these failures may be difficult to interpret due to…

Considering personalized driving preferences, a new decision-making framework is developed using a differential game approach to resolve the driving conflicts of autonomous vehicles (AVs) at unsignalized intersections. To realize human-like…

Safety-critical scenario generation is crucial for evaluating autonomous driving systems. However, existing approaches often struggle to balance three conflicting objectives: adversarial criticality, physical feasibility, and behavioral…

Safety is a central requirement for automated vehicles. As such, the assessment of risk in automated driving is key in supporting both motion planning technologies and safety evaluation. In automated driving, risk is characterized by two…

Collecting real-world mobility data is challenging. It is often fraught with privacy concerns, logistical difficulties, and inherent biases. Moreover, accurately annotating anomalies in large-scale data is nearly impossible, as it demands…

Safety is one of the main challenges that prohibit autonomous vehicles (AV), requiring them to be well tested ahead of being allowed on the road. In comparison with road tests, simulators allow us to validate the AV conveniently and…

Learning-based methodologies increasingly find applications in safety-critical domains like autonomous driving and medical robotics. Due to the rare nature of dangerous events, real-world testing is prohibitively expensive and unscalable.…

We present the interactive Java-based open-source traffic simulator available at www.traffic-simulation.de. In contrast to most closed-source commercial simulators, the focus is on investigating fundamental issues of traffic dynamics rather…

Unmanned aerial vehicle (UAV) use continues to increase, including operating beyond line of sight in unknown environments where the vehicle must autonomously generate a trajectory to safely navigate. In this article, we develop a trajectory…

Simulation-based testing has emerged as an essential tool for verifying and validating autonomous vehicles (AVs). However, contemporary methodologies, such as deterministic and imitation learning-based driver models, struggle to capture the…

Evaluating and training autonomous driving systems require diverse and scalable corner cases. However, most existing scene generation methods lack controllability, accuracy, and versatility, resulting in unsatisfactory generation results.…

Autonomous vehicles must balance a complex set of objectives. There is no consensus on how they should do so, nor on a model for specifying a desired driving behavior. We created a dataset to help address some of these questions in a…

There is tremendous global enthusiasm for research, development, and deployment of autonomous vehicles (AVs), e.g., self-driving taxis and trucks from Waymo and Baidu. The current practice for testing AVs uses virtual tests-where AVs are…