Related papers: Adaptive Time Budgets for Safe and Comfortable Veh…
Conditionally automated driving systems require human drivers to disengage from non-driving-related activities and resume vehicle control within limited time budgets when encountering scenarios beyond system capabilities. Ensuring safe and…
In conditional automation, the automated driving system assumes full control and only issues a takeover request to a human driver to resume driving in critical situations. Previous studies have concluded that the time budget required by…
With the automotive industry transitioning towards conditionally automated driving, takeover warning systems are crucial for ensuring safe collaborative driving between users and semi-automated vehicles. However, previous work has focused…
It is extremely important to ensure a safe takeover transition in conditionally automated driving. One of the critical factors that quantifies the safe takeover transition is takeover time. Previous studies identified the effects of many…
The transition of control from autonomous systems to human drivers is critical in automated driving systems, particularly due to the out-of-the-loop (OOTL) circumstances that reduce driver readiness and increase reaction times. Existing…
When automated driving systems encounter complex situations beyond their operational capabilities, they issue takeover requests, prompting drivers to resume vehicle control and return to the driving loop as a critical safety backup.…
Automated vehicle technologies offer a promising avenue for enhancing traffic efficiency, safety, and energy consumption. Among these, Adaptive Cruise Control (ACC) systems stand out as a prevalent form of automation on today's roads, with…
The safe transition from conditional automation to manual driving control is significantly intertwined with the vehicle's lateral and longitudinal dynamics. The transition may occur as a result of a system-initiated mandatory takeover…
Human drivers' control quality in the first seconds after a handover is critical to shared-driving safety; potentially unsafe steering or pedal inputs therefore require detection and correction by the automated vehicle's safety-fallback…
This paper presents a hybrid control framework with a risk-budgeted monitor for safety-certified autonomous driving. A sliding-window monitor tracks insufficient barrier residuals and triggers switching from a relaxed control barrier…
This paper presents adaptive event-triggered formation control strategies for autonomous vehicles (AVs) subject to longitudinal and lateral motion uncertainties. The proposed framework explores various vehicular formations to enable safe…
This paper studies safety guarantees for systems with time-varying control bounds. It has been shown that optimizing quadratic costs subject to state and control constraints can be reduced to a sequence of Quadratic Programs (QPs) using…
To make safe transitions from autonomous to manual control, a vehicle must have a representation of the awareness of driver state; two metrics which quantify this state are the Observable Readiness Index and Takeover Time. In this work, we…
This paper is motivated by controllers developed for autonomous vehicles which occasionally result into conditions where safety is no longer guaranteed. We develop an exact-time safety recovery framework for any control-affine nonlinear…
Reliable risk identification based on driver behavior data underpins real-time safety feedback, fleet risk management, and evaluation of driver-assist systems. While naturalistic driving studies have become foundational for providing…
Adaptive-Cruise Control (ACC) automatically accelerates or decelerates a vehicle to maintain a selected time gap, to reach a desired velocity, or to prevent a rear-end collision. To this end, the ACC sensors detect and track the vehicle…
Optimal cruise control design can increase highway throughput and vehicle safety in traffic flow. In most heterogeneous platoons, the absence of vehicle-to-vehicle (V2V) communication poses challenges in maintaining system stability and…
Integrating an automated driving software stack into vehicles with variable configuration is challenging, especially due to different hardware characteristics. Further, to provide software updates to a vehicle fleet in the field, the…
Understanding occupant-vehicle interactions by modeling control transitions is important to ensure safe approaches to passenger vehicle automation. Models which contain contextual, semantically meaningful representations of driver states…
A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…