Related papers: Shared Situational Awareness Using Hybrid Zonotope…
One of the main challenges in developing autonomous transport systems based on connected and automated vehicles is the comprehension and understanding of the environment around each vehicle. In many situations, the understanding is limited…
Predicting the motion of surrounding vehicles is key to safe autonomous driving, especially in unstructured environments without prior information. This paper proposes a novel online method to accurately predict the occupancy sets of…
Hybrid systems play a crucial role in modeling real-world applications where discrete and continuous dynamics interact, including autonomous vehicles, power systems, and traffic networks. Safety verification for these systems requires…
Sensor fusion is critical to perception systems for task domains such as autonomous driving and robotics. Recently, the Transformer integrated with CNN has demonstrated high performance in sensor fusion for various perception tasks. In this…
Learning contextual and spatial environmental representations enhances autonomous vehicle's hazard anticipation and decision-making in complex scenarios. Recent perception systems enhance spatial understanding with sensor fusion but often…
Fully autonomous driving systems require fast detection and recognition of sensitive objects in the environment. In this context, intelligent vehicles should share their sensor data with computing platforms and/or other vehicles, to detect…
Achieving fully autonomous driving with enhanced safety and efficiency relies on vehicle-to-everything cooperative perception, which enables vehicles to share perception data, thereby enhancing situational awareness and overcoming the…
Autonomously driving vehicles require a complete and robust perception of the local environment. A main challenge is to perceive any other road users, where multi-object tracking or occupancy grid maps are commonly used. The presented…
The ability to perceive and comprehend a traffic situation and to estimate the state of the vehicles and road-users in the surrounding of the ego-vehicle is known as situational awareness. Situational awareness for a heavy-duty autonomous…
Predicting vulnerable road user behavior is an essential prerequisite for deploying Automated Driving Systems (ADS) in the real-world. Pedestrian crossing intention should be recognized in real-time, especially for urban driving. Recent…
Lacking security awareness, sensor fusion in systems with multi-agent networks such as smart cities is vulnerable to attacks. To guard against recent threats, we design security-aware sensor fusion that is based on the estimates of…
Sensor fusion is crucial for a performant and robust Perception system in autonomous vehicles, but sensor staleness, where data from different sensors arrives with varying delays, poses significant challenges. Temporal misalignment between…
Hybrid zonotopes generalize constrained zonotopes by introducing additional binary variables and possess some unique properties that make them convenient to represent nonconvex sets. This paper presents novel hybrid zonotope-based methods…
Accurate environment perception is essential for automated vehicles. Since occlusions and inaccuracies regularly occur, the exchange and combination of perception data of multiple vehicles seems promising. This paper describes a method to…
By using various sensors to measure the surroundings and sharing local sensor information with the surrounding vehicles through wireless networks, connected and automated vehicles (CAVs) are expected to increase safety, efficiency, and…
Perception of other road users is a crucial task for intelligent vehicles. Perception systems can use on-board sensors only or be in cooperation with other vehicles or with roadside units. In any case, the performance of perception systems…
Severe collisions can result from aggressive driving and poor road conditions, emphasizing the need for effective monitoring to ensure safety. Smartphones, with their array of built-in sensors, offer a practical and affordable solution for…
Shared situation awareness (SSA) has been garnering explosive interest in various applications for intelligent transportation systems (ITS). In addition, the delay-constrained nature of supporting vehicular networks makes it critical to…
The objective of this paper is to propose a systematic analysis of the sensor coverage of automated vehicles. Due to an unlimited number of possible traffic situations, a selection of scenarios to be tested must be applied in the safety…
To accurately estimate locations and velocities of surrounding targets (cars) is crucial for advanced driver assistance systems based on radar sensors. In this paper we derive methods for fusing data from multiple radar sensors in order to…